{"id":"https://openalex.org/W4409102074","doi":"https://doi.org/10.1109/lra.2025.3557227","title":"SfmOcc: Vision-Based 3D Semantic Occupancy Prediction in Urban Environments","display_name":"SfmOcc: Vision-Based 3D Semantic Occupancy Prediction in Urban Environments","publication_year":2025,"publication_date":"2025-04-03","ids":{"openalex":"https://openalex.org/W4409102074","doi":"https://doi.org/10.1109/lra.2025.3557227"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3557227","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3557227","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":["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/A5040103218","display_name":"Rodrigo Marcuzzi","orcid":"https://orcid.org/0000-0001-8076-0293"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rodrigo Marcuzzi","raw_affiliation_strings":["Center for Robotics, University of Bonn, Bonn, Germany","Center for Robotics, University of Bonn, Germany"],"raw_orcid":"https://orcid.org/0000-0001-8076-0293","affiliations":[{"raw_affiliation_string":"Center for Robotics, University of Bonn, Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Center for Robotics, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012654952","display_name":"Lucas Nunes","orcid":"https://orcid.org/0000-0002-1752-2740"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Lucas Nunes","raw_affiliation_strings":["Center for Robotics, University of Bonn, Bonn, Germany","Center for Robotics, University of Bonn, Germany"],"raw_orcid":"https://orcid.org/0000-0002-1752-2740","affiliations":[{"raw_affiliation_string":"Center for Robotics, University of Bonn, Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Center for Robotics, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004673510","display_name":"Elias Marks","orcid":"https://orcid.org/0000-0003-1322-9317"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Elias Marks","raw_affiliation_strings":["Center for Robotics, University of Bonn, Bonn, Germany","Center for Robotics, University of Bonn, Germany"],"raw_orcid":"https://orcid.org/0000-0003-1322-9317","affiliations":[{"raw_affiliation_string":"Center for Robotics, University of Bonn, Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Center for Robotics, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010951584","display_name":"Louis Wiesmann","orcid":"https://orcid.org/0000-0003-0985-7433"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Louis Wiesmann","raw_affiliation_strings":["Center for Robotics, University of Bonn, Bonn, Germany","Center for Robotics, University of Bonn, Germany"],"raw_orcid":"https://orcid.org/0000-0003-0985-7433","affiliations":[{"raw_affiliation_string":"Center for Robotics, University of Bonn, Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Center for Robotics, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018429768","display_name":"Thomas L\u00e4be","orcid":null},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thomas L\u00e4be","raw_affiliation_strings":["Center for Robotics, University of Bonn, Bonn, Germany","Center for Robotics, University of Bonn, Germany"],"raw_orcid":"https://orcid.org/0000-0003-4873-513X","affiliations":[{"raw_affiliation_string":"Center for Robotics, University of Bonn, Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Center for Robotics, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068364473","display_name":"Jens Behley","orcid":"https://orcid.org/0000-0001-6483-0319"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jens Behley","raw_affiliation_strings":["Center for Robotics, University of Bonn, Bonn, Germany","Center for Robotics, University of Bonn, Germany"],"raw_orcid":"https://orcid.org/0000-0001-6483-0319","affiliations":[{"raw_affiliation_string":"Center for Robotics, University of Bonn, Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Center for Robotics, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011166267","display_name":"Cyrill Stachniss","orcid":"https://orcid.org/0000-0003-1173-6972"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Cyrill Stachniss","raw_affiliation_strings":["Center for Robotics, University of Bonn, Bonn, Germany","Center for Robotics, University of Bonn, Germany"],"raw_orcid":"https://orcid.org/0000-0003-1173-6972","affiliations":[{"raw_affiliation_string":"Center for Robotics, University of Bonn, Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Center for Robotics, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I135140700"],"apc_list":null,"apc_paid":null,"fwci":0.5399,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.58169161,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"10","issue":"5","first_page":"5074","last_page":"5081"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13282","display_name":"Automated Road and Building Extraction","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T13282","display_name":"Automated Road and Building Extraction","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9939000010490417,"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/T10757","display_name":"Geographic Information Systems Studies","score":0.963699996471405,"subfield":{"id":"https://openalex.org/subfields/3305","display_name":"Geography, Planning and Development"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/occupancy","display_name":"Occupancy","score":0.8644421696662903},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.597176194190979},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45307138562202454},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.37244701385498047},{"id":"https://openalex.org/keywords/architectural-engineering","display_name":"Architectural engineering","score":0.10450273752212524},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09568354487419128}],"concepts":[{"id":"https://openalex.org/C160331591","wikidata":"https://www.wikidata.org/wiki/Q7075743","display_name":"Occupancy","level":2,"score":0.8644421696662903},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.597176194190979},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45307138562202454},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37244701385498047},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.10450273752212524},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09568354487419128}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3557227","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3557227","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.75,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1803059841","https://openalex.org/W2124313187","https://openalex.org/W2133844819","https://openalex.org/W2176797328","https://openalex.org/W2205172244","https://openalex.org/W2796048785","https://openalex.org/W2912889580","https://openalex.org/W2985775862","https://openalex.org/W2991216808","https://openalex.org/W3035574168","https://openalex.org/W3060975791","https://openalex.org/W3109395584","https://openalex.org/W3109585842","https://openalex.org/W3141975725","https://openalex.org/W3152863269","https://openalex.org/W3188432073","https://openalex.org/W3215584334","https://openalex.org/W4200308510","https://openalex.org/W4312894406","https://openalex.org/W4382450829","https://openalex.org/W4383108371","https://openalex.org/W4386083035","https://openalex.org/W4389169632","https://openalex.org/W4389371165","https://openalex.org/W4390874310","https://openalex.org/W4390874817","https://openalex.org/W4398788600","https://openalex.org/W4401414722","https://openalex.org/W4402713134","https://openalex.org/W4402754007","https://openalex.org/W4409263336","https://openalex.org/W6757817989","https://openalex.org/W6786772111","https://openalex.org/W6810381225","https://openalex.org/W6811230113","https://openalex.org/W6852775642","https://openalex.org/W6858633922","https://openalex.org/W6859730130","https://openalex.org/W6861232000","https://openalex.org/W6873042019","https://openalex.org/W6873763106","https://openalex.org/W6891932074","https://openalex.org/W6940816443"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Semantic":[0],"scene":[1],"understanding":[2],"is":[3,13],"crucial":[4],"for":[5,46,74,87,104,113,162,187],"autonomous":[6],"systems":[7],"and":[8,21,85,125,133,154,183],"3D":[9,38,57,164,179,188],"semantic":[10,23,105,146,165],"occupancy":[11,34,106,156,166,180,189],"prediction":[12,107,167,190],"a":[14,56,81,101,123,149],"key":[15],"task":[16],"since":[17],"it":[18],"provides":[19],"geometric":[20],"possibly":[22],"information":[24],"of":[25,55,64,122],"the":[26,53,61,65,118,131,163],"vehicle's":[27],"surroundings.":[28],"Most":[29],"existing":[30],"vision-based":[31],"approaches":[32,69],"to":[33,52,129,159],"estimation":[35],"rely":[36,70],"on":[37,72],"voxel":[39,181],"labels":[40,158],"or":[41,60,93,172],"segmented":[42],"LiDAR":[43,58],"point":[44],"clouds":[45],"supervision.":[47,114],"This":[48],"limits":[49],"their":[50],"application":[51],"availability":[54],"sensor":[59],"costly":[62],"labeling":[63],"voxels.":[66],"While":[67],"other":[68],"only":[71,79,109],"images":[73,84,121,132],"training,":[75],"they":[76],"usually":[77],"supervise":[78],"with":[80],"few":[82],"consecutive":[83],"optimize":[86,161],"proxy":[88],"tasks":[89],"like":[90],"volume":[91],"reconstruction":[92],"depth":[94,142],"prediction.":[95],"In":[96],"this":[97],"paper,":[98],"we":[99,139],"propose":[100],"novel":[102],"method":[103],"using":[108],"vision":[110],"data":[111],"also":[112],"We":[115,144],"leverage":[116],"all":[117],"available":[119],"training":[120],"sequence":[124],"use":[126],"bundle":[127],"adjustment":[128],"align":[130],"estimate":[134],"camera":[135],"poses":[136],"from":[137,148],"which":[138],"then":[140],"obtain":[141],"images.":[143],"compute":[145],"maps":[147],"pre-trained":[150],"open-vocabulary":[151],"image":[152],"model":[153],"generate":[155],"pseudo":[157],"explicitly":[160],"task.":[168],"Without":[169],"any":[170],"manual":[171],"LiDAR-based":[173],"labels,":[174],"our":[175],"approach":[176],"predicts":[177],"full":[178],"grids":[182],"achieves":[184],"state-of-the-art":[185],"results":[186],"among":[191],"methods":[192],"trained":[193],"without":[194],"labels.":[195]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
