This is a PyTorch/GPU implementation of the paper GEOcc

3D occupancy perception holds a pivotal role in recent vision-centric autonomous driving systems by converting surround-view images into integrated geometric and semantic representations within dense 3D grids. Nevertheless, current models still encounter two main challenges: modeling depth accurately in the 2D-3D view transformation stage, and overcoming the lack of generalizability issues due to sparse LiDAR supervision. To address these issues, this paper presents GEOcc, a Geometric-Enhanced Occupancy network tailored for vision-only surround-view perception. Our approach is three-fold: 1) Integration of explicit lift-based depth prediction and implicit projection-based transformers for depth modeling, enhancing the density and robustness of view transformation. 2) Utilization of mask-based encoder-decoder architecture for fine-grained semantic predictions; 3) Adoption of context-aware self-training loss functions in the pertaining stage to complement LiDAR supervision, involving the re-rendering of 2D depth maps from 3D occupancy features and leveraging image reconstruction loss to obtain denser depth supervision besides sparse LiDAR ground-truths. Our approach achieves State-Of-The-Art performance on the Occ3D-nuScenes dataset with the least image resolution needed and the most weightless image backbone compared with current models, marking an improvement of 3.3% due to our proposed contributions. Comprehensive experimentation also demonstrates the consistent superiority of our method over baselines and alternative approaches.

step 1. Follow install.md to install environment.

step 2. Prepare nuScenes dataset as introduced in nuscenes_det.md and occupancy ground truth from CVPR2023-3D-Occupancy-Prediction. The folder should be arranged as :

└── nuscenes
    ├── v1.0-trainval
    ├── sweeps
    ├── samples
    └── gts

step 3. Create the pkl file for dataset by running:

python tools/create_data_bevdet.py

step 4. Download the CBGS model weights for BEVDet-R50-4DLongterm-Stereo-CBGS and BEVDet-STBase-4D-Stereo-512x1408-CBGS. Place the two pth files in the project root directory.

# single gpu
python tools/train.py $config
# multiple gpu
./tools/dist_train.sh $config num_gpu

# single gpu
python tools/test.py $config $checkpoint --eval mAP
# multiple gpu
./tools/dist_test.sh $config $checkpoint num_gpu --eval mAP