occupancy-prediction 开源项目推荐（48 个）

OpenDriveLab /UniAD

[CVPR 2023 最佳论文奖] 面向规划的自动驾驶

weiyithu /SurroundOcc

[ICCV 2023] SurroundOcc: Multi-camera 3D Occupancy Prediction for Autonomous Driving

astra-vision /MonoScene

[CVPR 2022] "MonoScene: Monocular 3D Semantic Scene Completion": 3D Semantic Occupancy Prediction from a single image

Charmve /OccNet-Course

国内首个占据栅格网络全栈课程《从BEV到Occupancy Network，算法原理与工程实践》，包含端侧部署。自动驾驶语义占领感知课程（文档、PPT及源代码）在线课程主页：http://111.229.117.200:8100/ （作者独立搭建）

vasgaowei /BEV-Perception

Bird's Eye View Perception

zhangyp15 /OccFormer

[ICCV 2023] OccFormer: Dual-path Transformer for Vision-based 3D Semantic Occupancy Prediction

haomo-ai /Cam4DOcc

[CVPR 2024] Cam4DOcc: Benchmark for Camera-Only 4D Occupancy Forecasting in Autonomous Driving Applications

hustvl /Symphonies

[CVPR 2024] Symphonies (Scene-from-Insts): Symphonize 3D Semantic Scene Completion with Contextual Instance Queries

jbwang1997 /OPUS

OPUS: Occupancy Prediction Using a Sparse Set

wzzheng /PointOcc

Efficient Point-based 3D Semantic Occupancy Prediction

ai4ce /Occ4cast

Occ4cast: LiDAR-based 4D Occupancy Completion and Forecasting

RobustFieldAutonomyLab /la3dm

Learning-aided 3D mapping

ZYang2077 /DAOcc

[TCSVT] DAOcc: 3D Object Detection Assisted Multi-Sensor Fusion for 3D Occupancy Prediction

lzzzzzm /STCOcc

[CVPR2025] STCOcc: Sparse Spatial-Temporal Cascade Renovation for 3D Occupancy and Scene Flow Prediction

tum-vision /scenedino

前馈场景DINO用于无监督语义场景完成（ICCV 2025）

priest-yang /VADv2

VADv2: End-to-End Vectorized Autonomous Driving via Probabilistic Planning

konyul /STONE

[ICRA 2026] STONE Dataset: A Scalable Multi-Modal Surround-View 3D Traversability Dataset for Off-Road Robot Navigation

getterupper /PreWorld

[ICLR 2025] Semi-Supervised Vision-Centric 3D Occupancy World Model for Autonomous Driving

cdb342 /ALOcc

[ICCV 2025] ALOcc: Adaptive Lifting-based 3D Semantic Occupancy and Cost Volume-based Flow Prediction

TempleRAIL /scope_nav

[TRO-2025] SCOPE: Stochastic Cartographic Occupancy Prediction Engine for Uncertainty-Aware Dynamic Navigation