{"id":"https://openalex.org/W4399800580","doi":"https://doi.org/10.1109/lra.2024.3416798","title":"HybridOcc: NeRF Enhanced Transformer-Based Multi-Camera 3D Occupancy Prediction","display_name":"HybridOcc: NeRF Enhanced Transformer-Based Multi-Camera 3D Occupancy Prediction","publication_year":2024,"publication_date":"2024-06-19","ids":{"openalex":"https://openalex.org/W4399800580","doi":"https://doi.org/10.1109/lra.2024.3416798"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3416798","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3416798","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2408.09104","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5106342687","display_name":"Xiao Zhao","orcid":"https://orcid.org/0000-0001-7928-3354"},"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":"Xiao Zhao","raw_affiliation_strings":["Academy for Engineering and Technology, Fudan University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-7928-3354","affiliations":[{"raw_affiliation_string":"Academy for Engineering and Technology, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101315231","display_name":"Bo Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I4210127843","display_name":"First Automotive Works (China)","ror":"https://ror.org/0353t4m91","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210127843"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Chen","raw_affiliation_strings":["China FAW Group Corporation, Ltd., Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China FAW Group Corporation, Ltd., Nanjing, China","institution_ids":["https://openalex.org/I4210127843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045362859","display_name":"Mingyang Sun","orcid":"https://orcid.org/0000-0003-2728-5117"},"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":"Mingyang Sun","raw_affiliation_strings":["Academy for Engineering and Technology, Fudan University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Academy for Engineering and Technology, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064280715","display_name":"Dingkang Yang","orcid":"https://orcid.org/0000-0003-1829-5671"},"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":"Dingkang Yang","raw_affiliation_strings":["Academy for Engineering and Technology, Fudan University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-1829-5671","affiliations":[{"raw_affiliation_string":"Academy for Engineering and Technology, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009239808","display_name":"Youxing Wang","orcid":null},"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":"Youxing Wang","raw_affiliation_strings":["Academy for Engineering and Technology, Fudan University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Academy for Engineering and Technology, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101764675","display_name":"Xukun Zhang","orcid":"https://orcid.org/0000-0003-2869-9434"},"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":"Xukun Zhang","raw_affiliation_strings":["Academy for Engineering and Technology, Fudan University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-2869-9434","affiliations":[{"raw_affiliation_string":"Academy for Engineering and Technology, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058367079","display_name":"M. H. Li","orcid":"https://orcid.org/0009-0000-6244-6081"},"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":"Mingcheng Li","raw_affiliation_strings":["Academy for Engineering and Technology, Fudan University, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0000-6244-6081","affiliations":[{"raw_affiliation_string":"Academy for Engineering and Technology, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114231553","display_name":"Dongliang Kou","orcid":null},"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":"Dongliang Kou","raw_affiliation_strings":["Academy for Engineering and Technology, Fudan University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Academy for Engineering and Technology, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056946862","display_name":"Xiaoyi Wei","orcid":"https://orcid.org/0000-0002-4053-6999"},"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":"Xiaoyi Wei","raw_affiliation_strings":["Academy for Engineering and Technology, Fudan University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Academy for Engineering and Technology, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100414906","display_name":"Lihua Zhang","orcid":"https://orcid.org/0000-0003-0467-4347"},"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":"Lihua Zhang","raw_affiliation_strings":["Academy for Engineering and Technology, Fudan University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-0467-4347","affiliations":[{"raw_affiliation_string":"Academy for Engineering and Technology, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.4833,"has_fulltext":true,"cited_by_count":12,"citation_normalized_percentile":{"value":0.902686,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"9","issue":"9","first_page":"7867","last_page":"7874"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998000264167786,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9998000264167786,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/occupancy","display_name":"Occupancy","score":0.8246412873268127},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.6212900876998901},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4528430998325348},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.3866354525089264},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.19947153329849243},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16872245073318481},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.11693862080574036},{"id":"https://openalex.org/keywords/architectural-engineering","display_name":"Architectural engineering","score":0.10063794255256653}],"concepts":[{"id":"https://openalex.org/C160331591","wikidata":"https://www.wikidata.org/wiki/Q7075743","display_name":"Occupancy","level":2,"score":0.8246412873268127},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.6212900876998901},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4528430998325348},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.3866354525089264},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.19947153329849243},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16872245073318481},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.11693862080574036},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.10063794255256653}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2024.3416798","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3416798","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2408.09104","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2408.09104","pdf_url":"https://arxiv.org/pdf/2408.09104","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2408.09104","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2408.09104","pdf_url":"https://arxiv.org/pdf/2408.09104","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.7599999904632568,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4399800580.pdf","grobid_xml":"https://content.openalex.org/works/W4399800580.grobid-xml"},"referenced_works_count":55,"referenced_works":["https://openalex.org/W2194775991","https://openalex.org/W2557465155","https://openalex.org/W2565639579","https://openalex.org/W2601564443","https://openalex.org/W2951234442","https://openalex.org/W2963766190","https://openalex.org/W2991216808","https://openalex.org/W3035574168","https://openalex.org/W3036421240","https://openalex.org/W3099201369","https://openalex.org/W3109395584","https://openalex.org/W3141975725","https://openalex.org/W3171102639","https://openalex.org/W3172610252","https://openalex.org/W3176368002","https://openalex.org/W3181700833","https://openalex.org/W3195680177","https://openalex.org/W3215100485","https://openalex.org/W3215584334","https://openalex.org/W4200150166","https://openalex.org/W4221151978","https://openalex.org/W4287100327","https://openalex.org/W4310832369","https://openalex.org/W4312258500","https://openalex.org/W4312894406","https://openalex.org/W4313156423","https://openalex.org/W4367369767","https://openalex.org/W4381082392","https://openalex.org/W4386066358","https://openalex.org/W4386083035","https://openalex.org/W4387797291","https://openalex.org/W4388444892","https://openalex.org/W4389821489","https://openalex.org/W4390438115","https://openalex.org/W4390872696","https://openalex.org/W4390873564","https://openalex.org/W4390874310","https://openalex.org/W4390874817","https://openalex.org/W4392120998","https://openalex.org/W4392488205","https://openalex.org/W4399116434","https://openalex.org/W4401414722","https://openalex.org/W4402727084","https://openalex.org/W6685261749","https://openalex.org/W6852775642","https://openalex.org/W6853805173","https://openalex.org/W6857295974","https://openalex.org/W6858161411","https://openalex.org/W6858172842","https://openalex.org/W6859148117","https://openalex.org/W6859730130","https://openalex.org/W6860198759","https://openalex.org/W6861891991","https://openalex.org/W6862188959","https://openalex.org/W6868366505"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W4282043467","https://openalex.org/W2105697914","https://openalex.org/W3093197249","https://openalex.org/W1968324288","https://openalex.org/W1540010871","https://openalex.org/W3023979140","https://openalex.org/W2904068067","https://openalex.org/W1565491139"],"abstract_inverted_index":{"Vision-based":[0],"3D":[1,11,32,40,96],"semantic":[2],"scene":[3,21,105,118,144],"completion":[4],"(SSC)":[5],"describes":[6],"autonomous":[7],"driving":[8],"scenes":[9],"through":[10,64,107],"volume":[12,41,108],"representations.":[13],"However,":[14],"the":[15,65,136,143,148,159,165],"occlusion":[16],"of":[17,140,161],"invisible":[18,113],"voxels":[19],"by":[20,46],"surfaces":[22],"poses":[23],"challenges":[24],"to":[25,79,95,134],"current":[26],"SSC":[27,57,137,166],"methods":[28],"in":[29,54],"hallucinating":[30],"refined":[31,53],"geometry.":[33],"This":[34],"letter":[35],"proposes":[36],"HybridOcc,":[37],"a":[38,55],"hybrid":[39,70],"query":[42,71],"proposal":[43],"method":[44,133],"generated":[45],"Transformer":[47,66,84],"framework":[48],"and":[49,52,89,112,115,155],"NeRF":[50,77,101],"representation":[51,78],"coarse-to-fine":[56],"prediction":[58],"framework.":[59],"HybridOcc":[60,163],"aggregates":[61],"contextual":[62],"features":[63],"paradigm":[67],"based":[68],"on":[69,142,153,164],"proposals":[72],"while":[73],"combining":[74],"it":[75],"with":[76],"obtain":[80],"depth":[81,119],"supervision.":[82],"The":[83,98],"branch":[85,102],"contains":[86],"multiple":[87],"scales":[88],"uses":[90],"spatial":[91],"cross-attention":[92],"for":[93],"2D":[94],"transformation.":[97],"newly":[99],"designed":[100],"implicitly":[103],"infers":[104],"occupancy":[106],"rendering,":[109],"including":[110],"visible":[111],"voxels,":[114],"explicitly":[116],"captures":[117],"rather":[120],"than":[121],"generating":[122],"RGB":[123],"color.":[124],"Furthermore,":[125],"we":[126],"present":[127],"an":[128],"innovative":[129],"occupancy-aware":[130],"ray":[131],"sampling":[132],"orient":[135],"task":[138],"instead":[139],"focusing":[141],"surface,":[145],"further":[146],"improving":[147],"overall":[149],"performance.":[150],"Extensive":[151],"experiments":[152],"nuScenes":[154],"SemanticKITTI":[156],"datasets":[157],"demonstrate":[158],"effectiveness":[160],"our":[162],"task.":[167]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-03T08:13:44.112507","created_date":"2025-10-10T00:00:00"}
