Multi-Scale Occ: 4th Place Solution for CVPR 2023 3D Occupancy
  Prediction Challenge
Yangyang Ding Luying Huang Jiachen Zhong
In this report, we present the 4th place solution for CVPR 2023 3D occupancy
prediction challenge. We propose a simple method called Multi-Scale Occ for
occupancy prediction based on lift-splat-shoot framework, which introduces
multi-scale image features for generating better multi-scale 3D voxel features
with temporal fusion of multiple past frames. Post-processing including model
ensemble, test-time augmentation, and class-wise thresh are adopted to further
boost the final performance. As shown on the leaderboard, our proposed
occupancy prediction method ranks the 4th place with 49.36 mIoU.