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arXiv · 2503.08471

TrackOcc: Camera-based 4D Panoptic Occupancy Tracking

Zhuoguang Chen·Kenan Li·Xiuyu Yang·Tao Jiang·Yiming Li·Hang Zhao
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Abstract

Comprehensive and consistent dynamic scene understanding from camera input is essential for advanced autonomous systems. Traditional camera-based perception tasks like 3D object tracking and semantic occupancy prediction lack either spatial comprehensiveness or temporal consistency. In this work, we introduce a brand-new task, Camera-based 4D Panoptic Occupancy Tracking, which simultaneously addresses panoptic occupancy segmentation and object tracking from camera-only input. Furthermore, we propose TrackOcc, a cutting-edge approach that processes image inputs in a streaming, end-to-end manner with 4D panoptic queries to address the proposed task. Leveraging the localization-aware loss, TrackOcc enhances the accuracy of 4D panoptic occupancy tracking without bells and whistles. Experimental results demonstrate that our method achieves state-of-the-art performance on the Waymo dataset. The source code will be released at https://github.com/Tsinghua-MARS-Lab/TrackOcc.

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Zhuoguang Chen, Kenan Li, Xiuyu Yang, Tao Jiang, Yiming Li, Hang Zhao. 2025-03-11. TrackOcc: Camera-based 4D Panoptic Occupancy Tracking. https://arxiv.org/abs/2503.08471

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