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arXiv · 2609.06370

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

Lihao Qiu·Jian Chen·Ruihao Wang·Ramu Gautam·Mei Yang·Yingtao Jiang
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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.

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Lihao Qiu, Jian Chen, Ruihao Wang, Ramu Gautam, Mei Yang, Yingtao Jiang. 2026-09-06. DualPathOcc: Dual-Resolution BEV Encoder for 3D Occupancy Prediction. https://arxiv.org/abs/2609.06370

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