OccTransformer: Improving BEVFormer for 3D camera-only occupancy
  prediction
Jian Liu Sipeng Zhang Chuixin Kong Wenyuan Zhang Yuhang Wu Yikang Ding Borun Xu Ruibo Ming Donglai Wei Xianming Liu
This technical report presents our solution, "occTransformer" for the 3D
occupancy prediction track in the autonomous driving challenge at CVPR 2023.
Our method builds upon the strong baseline BEVFormer and improves its
performance through several simple yet effective techniques. Firstly, we
employed data augmentation to increase the diversity of the training data and
improve the model's generalization ability. Secondly, we used a strong image
backbone to extract more informative features from the input data. Thirdly, we
incorporated a 3D unet head to better capture the spatial information of the
scene. Fourthly, we added more loss functions to better optimize the model.
Additionally, we used an ensemble approach with the occ model BevDet and
SurroundOcc to further improve the performance. Most importantly, we integrated
3D detection model StreamPETR to enhance the model's ability to detect objects
in the scene. Using these methods, our solution achieved 49.23 miou on the 3D
occupancy prediction track in the autonomous driving challenge.