DualPathOcc: Dual-Resolution BEV Encoder for 3D Occupancy Prediction

2026-09-06

AI Summary

本文提出DualPathOcc框架，通过高分辨率特征聚合和双路径BEV编码器解决多视图图像的3D占用预测问题，优化模型以提高预测精度。

Abstract

Predicting 3D occupancy from multi-view images requires preserving geometric detail during 2D-to-3D lifting while reasoning over sparse, volumetric scene representations. We present DualPathOcc, a camera-based framework that combines a Spatial Enhancer for high-resolution feature aggregation before BEV compression, a SENet-augmented dual-path BEV encoder for local-global context modeling, and height-aware weighted cross-entropy for near-ground occupancy. The final model is optimized with occupancy supervision and no explicit depth loss. On single-frame Occ3D-nuScenes, DualPathOcc achieves 37.37 mIoU. We further analyze how surface-centered depth targets interact with volumetric occupancy learning.

Problem

• 3D occupancy prediction
• multi-view images
• geometric detail
• volumetric scene representation

Innovation

• Dual-Resolution
• SENet-augmented
• height-aware weighted cross-entropy