OccGen: Generative Multi-modal 3D Occupancy Prediction for Autonomous Driving

원문 초록

Existing solutions for 3D semantic occupancy prediction typically treat the task as a one-shot 3D voxel-wise segmentation perception problem. These discriminative methods focus on learning the mapping between the inputs and occupancy map in a single step, lacking the ability to gradually refine the occupancy map and the reasonable scene imaginative capacity to complete the local regions somewhere. In this paper, we introduce OccGen, a simple yet powerful generative perception model for the task of 3D semantic occupancy prediction. OccGen adopts a ''noise-to-occupancy'' generative paradigm, progressively inferring and refining the occupancy map by predicting and eliminating noise originating from a random Gaussian distribution. OccGen consists of two main components: a conditional encoder that is capable of processing multi-modal inputs, and a progressive refinement decoder that applies diffusion denoising using the multi-modal features as conditions. A key insight of this generative pipeline is that the diffusion denoising process is naturally able to model the coarse-to-fine refinement of the dense 3D occupancy map, therefore producing more detailed predictions. Extensive experiments on several occupancy benchmarks demonstrate the effectiveness of the proposed method compared to the state-of-the-art methods. For instance, OccGen relatively enhances the mIoU by 9.5%, 6.3%, and 13.3% on nuScenes-Occupancy dataset under the muli-modal, LiDAR-only, and camera-only settings, respectively. Moreover, as a generative perception model, OccGen exhibits desirable properties that discriminative models cannot achieve, such as providing uncertainty estimates alongside its multiple-step predictions.