PaSCo: Urban 3D Panoptic Scene Completion with Uncertainty Awareness
Anh-Quan Cao Angela Dai Raoul de Charette
We propose the task of Panoptic Scene Completion (PSC) which extends the
recently popular Semantic Scene Completion (SSC) task with instance-level
information to produce a richer understanding of the 3D scene. Our PSC proposal
utilizes a hybrid mask-based technique on the non-empty voxels from sparse
multi-scale completions. Whereas the SSC literature overlooks uncertainty which
is critical for robotics applications, we instead propose an efficient
ensembling to estimate both voxel-wise and instance-wise uncertainties along
PSC. This is achieved by building on a multi-input multi-output (MIMO)
strategy, while improving performance and yielding better uncertainty for
little additional compute. Additionally, we introduce a technique to aggregate
permutation-invariant mask predictions. Our experiments demonstrate that our
method surpasses all baselines in both Panoptic Scene Completion and
uncertainty estimation on three large-scale autonomous driving datasets. Our
code and data are available at https://astra-vision.github.io/PaSCo .