{"id":"https://openalex.org/W4405785007","doi":"https://doi.org/10.1109/iros58592.2024.10801860","title":"OpenOcc: Open Vocabulary 3D Scene Reconstruction via Occupancy Representation","display_name":"OpenOcc: Open Vocabulary 3D Scene Reconstruction via Occupancy Representation","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785007","doi":"https://doi.org/10.1109/iros58592.2024.10801860"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801860","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801860","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5062131672","display_name":"Haochen Jiang","orcid":"https://orcid.org/0000-0003-3081-0891"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Haochen Jiang","raw_affiliation_strings":["Fudan University"],"affiliations":[{"raw_affiliation_string":"Fudan University","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100514477","display_name":"Yueming Xu","orcid":"https://orcid.org/0000-0002-5720-1175"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yueming Xu","raw_affiliation_strings":["Fudan University"],"affiliations":[{"raw_affiliation_string":"Fudan University","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025046374","display_name":"Yihan Zeng","orcid":null},"institutions":[{"id":"https://openalex.org/I4210159102","display_name":"Huawei Technologies (Sweden)","ror":"https://ror.org/0500fyd17","country_code":"SE","type":"company","lineage":["https://openalex.org/I2250955327","https://openalex.org/I4210159102"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Yihan Zeng","raw_affiliation_strings":["Huawei Noah&#x2019;s Ark Lab"],"affiliations":[{"raw_affiliation_string":"Huawei Noah&#x2019;s Ark Lab","institution_ids":["https://openalex.org/I4210159102"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041457457","display_name":"Hang Xu","orcid":"https://orcid.org/0000-0003-3645-8972"},"institutions":[{"id":"https://openalex.org/I4210159102","display_name":"Huawei Technologies (Sweden)","ror":"https://ror.org/0500fyd17","country_code":"SE","type":"company","lineage":["https://openalex.org/I2250955327","https://openalex.org/I4210159102"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Hang Xu","raw_affiliation_strings":["Huawei Noah&#x2019;s Ark Lab"],"affiliations":[{"raw_affiliation_string":"Huawei Noah&#x2019;s Ark Lab","institution_ids":["https://openalex.org/I4210159102"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100830966","display_name":"Wei Zhang","orcid":"https://orcid.org/0000-0003-4020-2259"},"institutions":[{"id":"https://openalex.org/I4210159102","display_name":"Huawei Technologies (Sweden)","ror":"https://ror.org/0500fyd17","country_code":"SE","type":"company","lineage":["https://openalex.org/I2250955327","https://openalex.org/I4210159102"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Wei Zhang","raw_affiliation_strings":["Huawei Noah&#x2019;s Ark Lab"],"affiliations":[{"raw_affiliation_string":"Huawei Noah&#x2019;s Ark Lab","institution_ids":["https://openalex.org/I4210159102"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080019095","display_name":"Jianfeng Feng","orcid":"https://orcid.org/0000-0002-9328-5732"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianfeng Feng","raw_affiliation_strings":["Fudan University"],"affiliations":[{"raw_affiliation_string":"Fudan University","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100418973","display_name":"Zhang Li","orcid":"https://orcid.org/0009-0003-8559-4599"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Zhang","raw_affiliation_strings":["Fudan University"],"affiliations":[{"raw_affiliation_string":"Fudan University","institution_ids":["https://openalex.org/I24943067"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5062131672"],"corresponding_institution_ids":["https://openalex.org/I24943067"],"apc_list":null,"apc_paid":null,"fwci":0.2632,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.58148776,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1145","last_page":"1152"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9912999868392944,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9912999868392944,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11439","display_name":"Video Analysis and Summarization","score":0.9894999861717224,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T14339","display_name":"Image Processing and 3D Reconstruction","score":0.9883999824523926,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/occupancy","display_name":"Occupancy","score":0.8710630536079407},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7608395218849182},{"id":"https://openalex.org/keywords/vocabulary","display_name":"Vocabulary","score":0.6005322337150574},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5907280445098877},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5643284916877747},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.517788290977478},{"id":"https://openalex.org/keywords/natural-language-processing","display_name":"Natural language processing","score":0.33210986852645874},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.06615152955055237},{"id":"https://openalex.org/keywords/linguistics","display_name":"Linguistics","score":0.05472782254219055},{"id":"https://openalex.org/keywords/architectural-engineering","display_name":"Architectural engineering","score":0.046128422021865845}],"concepts":[{"id":"https://openalex.org/C160331591","wikidata":"https://www.wikidata.org/wiki/Q7075743","display_name":"Occupancy","level":2,"score":0.8710630536079407},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7608395218849182},{"id":"https://openalex.org/C2777601683","wikidata":"https://www.wikidata.org/wiki/Q6499736","display_name":"Vocabulary","level":2,"score":0.6005322337150574},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5907280445098877},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5643284916877747},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.517788290977478},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.33210986852645874},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.06615152955055237},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.05472782254219055},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.046128422021865845},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10801860","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801860","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320309612","display_name":"Natural Science Foundation of Shanghai","ror":null},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W2140873064","https://openalex.org/W2336416123","https://openalex.org/W2519683295","https://openalex.org/W2560609797","https://openalex.org/W2594519801","https://openalex.org/W2888535642","https://openalex.org/W2891396148","https://openalex.org/W2963926543","https://openalex.org/W2964339842","https://openalex.org/W2991284067","https://openalex.org/W3035086574","https://openalex.org/W3109428934","https://openalex.org/W3117476483","https://openalex.org/W3154129649","https://openalex.org/W3202037070","https://openalex.org/W3204832889","https://openalex.org/W3210613940","https://openalex.org/W4221151978","https://openalex.org/W4312330522","https://openalex.org/W4312433568","https://openalex.org/W4312539440","https://openalex.org/W4312649925","https://openalex.org/W4312912313","https://openalex.org/W4313186498","https://openalex.org/W4316654064","https://openalex.org/W4321512716","https://openalex.org/W4383108296","https://openalex.org/W4386065432","https://openalex.org/W4386065742","https://openalex.org/W4386075561","https://openalex.org/W4386076207","https://openalex.org/W4386083035","https://openalex.org/W4390872438","https://openalex.org/W4390872744","https://openalex.org/W4390873564","https://openalex.org/W4390874310","https://openalex.org/W6739778489","https://openalex.org/W6764040762","https://openalex.org/W6774631009","https://openalex.org/W6790019176","https://openalex.org/W6791353385","https://openalex.org/W6797770180","https://openalex.org/W6798033281","https://openalex.org/W6798047393","https://openalex.org/W6802517928","https://openalex.org/W6811433417","https://openalex.org/W6839182500","https://openalex.org/W6846020498","https://openalex.org/W6846669455","https://openalex.org/W6847560229","https://openalex.org/W6853251676","https://openalex.org/W6855158220"],"related_works":["https://openalex.org/W4282043467","https://openalex.org/W2105697914","https://openalex.org/W2202433167","https://openalex.org/W3093197249","https://openalex.org/W1540010871","https://openalex.org/W3023979140","https://openalex.org/W3177545769","https://openalex.org/W2904068067","https://openalex.org/W1565491139","https://openalex.org/W4297618682"],"abstract_inverted_index":{"3D":[0,42,50,72,96,127,173],"reconstruction":[1,64,98],"has":[2,144],"been":[3,145],"widely":[4],"used":[5],"in":[6,160,172],"autonomous":[7],"navigation":[8],"fields":[9],"of":[10,27,82,112,151],"mobile":[11,83],"robotics.":[12],"However,":[13],"the":[14,20,25,79,95,109,113,120,149],"former":[15],"research":[16],"can":[17],"only":[18],"provide":[19],"basic":[21],"geometry":[22],"structure":[23,111],"without":[24],"capability":[26],"open-world":[28],"scene":[29,43,67,97,114,174],"understanding,":[30],"limiting":[31],"advanced":[32],"tasks":[33],"like":[34],"human":[35],"interaction":[36],"and":[37,74,99,118,180],"visual":[38],"navigation.":[39],"Moreover,":[40],"traditional":[41],"understanding":[44,68,102,175],"approaches":[45],"rely":[46],"on":[47],"expensive":[48],"labeled":[49],"datasets":[51],"to":[52,147],"train":[53],"a":[54,57,91,126,137],"model":[55,108,124],"for":[56,78,133,178],"single":[58],"task":[59],"with":[60,65,103,115],"supervision.":[61],"Thus,":[62],"geometric":[63,110],"zero-shot":[66,134],"i.e.":[69],"Open":[70],"vocabulary":[71,101,123],"Understanding":[73],"Reconstruction,":[75],"is":[76],"crucial":[77],"future":[80],"development":[81],"robots.":[84],"In":[85],"this":[86],"paper,":[87],"we":[88],"propose":[89],"OpenOcc,":[90],"novel":[92,138],"framework":[93],"unifying":[94],"open":[100,122],"neural":[104],"radiance":[105],"fields.":[106],"We":[107],"occupancy":[116],"representation":[117,154],"distill":[119],"pre-trained":[121],"into":[125],"language":[128,152],"field":[129,153],"via":[130],"volume":[131],"rendering":[132],"inference.":[135],"Furthermore,":[136],"semantic-aware":[139],"confidence":[140],"propagation":[141],"(SCP)":[142],"method":[143],"proposed":[146],"relieve":[148],"issue":[150],"degeneracy":[155],"caused":[156],"by":[157],"inconsistent":[158],"measurements":[159],"distilled":[161],"features.":[162],"Experimental":[163],"results":[164],"show":[165],"that":[166],"our":[167],"approach":[168],"achieves":[169],"competitive":[170],"performance":[171],"tasks,":[176],"especially":[177],"small":[179],"long-tail":[181],"objects.":[182]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}
