{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,30]],"date-time":"2025-10-30T18:24:11Z","timestamp":1761848651288,"version":"build-2065373602"},"reference-count":87,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"10","license":[{"start":{"date-parts":[[2025,10,1]],"date-time":"2025-10-01T00:00:00Z","timestamp":1759276800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2025,10,1]],"date-time":"2025-10-01T00:00:00Z","timestamp":1759276800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,10,1]],"date-time":"2025-10-01T00:00:00Z","timestamp":1759276800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["12174341","62473139"],"award-info":[{"award-number":["12174341","62473139"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100012543","name":"Shanghai SUPREMIND Technology Company Ltd","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100012543","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Intell. Transport. Syst."],"published-print":{"date-parts":[[2025,10]]},"DOI":"10.1109\/tits.2025.3572200","type":"journal-article","created":{"date-parts":[[2025,6,2]],"date-time":"2025-06-02T14:03:28Z","timestamp":1748873008000},"page":"16001-16016","source":"Crossref","is-referenced-by-count":1,"title":["Offboard Occupancy Refinement With Hybrid Propagation for Autonomous Driving"],"prefix":"10.1109","volume":"26","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0184-2245","authenticated-orcid":false,"given":"Hao","family":"Shi","sequence":"first","affiliation":[{"name":"State Key Laboratory of Extreme Photonics and Instrumentation and the National Engineering Research Center of Optical Instrumentation, Zhejiang University, Hangzhou, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8758-7988","authenticated-orcid":false,"given":"Song","family":"Wang","sequence":"additional","affiliation":[{"name":"College of Computer Science and Technology, Zhejiang University, Hangzhou, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3471-328X","authenticated-orcid":false,"given":"Jiaming","family":"Zhang","sequence":"additional","affiliation":[{"name":"Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7708-7819","authenticated-orcid":false,"given":"Xiaoting","family":"Yin","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Extreme Photonics and Instrumentation and the National Engineering Research Center of Optical Instrumentation, Zhejiang University, Hangzhou, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7675-543X","authenticated-orcid":false,"given":"Guangming","family":"Wang","sequence":"additional","affiliation":[{"name":"Department of Engineering, University of Cambridge, Cambridge, U.K."}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1831-0106","authenticated-orcid":false,"given":"Jianke","family":"Zhu","sequence":"additional","affiliation":[{"name":"College of Computer Science and Technology, Zhejiang University, Hangzhou, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1090-667X","authenticated-orcid":false,"given":"Kailun","family":"Yang","sequence":"additional","affiliation":[{"name":"School of Robotics and the National Engineering Research Center of Robot Visual Perception and Control Technology, Hunan University, Changsha, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8272-3119","authenticated-orcid":false,"given":"Kaiwei","family":"Wang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Extreme Photonics and Instrumentation and the National Engineering Research Center of Optical Instrumentation, Zhejiang University, Hangzhou, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52688.2022.00396"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/3DV50981.2020.00021"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV51070.2023.00865"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52729.2023.00877"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2023.3344806"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2021.3133799"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2020.3019813"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2022.3230199"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2023.3319689"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-19842-7_16"},{"key":"ref11","article-title":"Data-centric evolution in autonomous driving: A comprehensive survey of big data system, data mining, and closed-loop technologies","author":"Li","year":"2024","journal-title":"arXiv:2401.12888"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR46437.2021.00607"},{"key":"ref13","article-title":"Auto4D: Learning to label 4D objects from sequential point clouds","author":"Yang","year":"2021","journal-title":"arXiv:2101.06586"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV51070.2023.01815"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV51070.2023.00620"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2019.00939"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52729.2023.01692"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2017.28"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2021.3095302"},{"key":"ref20","first-page":"3101","article-title":"Sparse single sweep LiDAR point cloud segmentation via learning contextual shape priors from scene completion","volume-title":"Proc. AAAI","volume":"35","author":"Xu"},{"key":"ref21","first-page":"2148","article-title":"S3CNet: A sparse semantic scene completion network for LiDAR point clouds","volume-title":"Proc. CoRL","author":"Cheng"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/IROS51168.2021.9636662"},{"key":"ref23","article-title":"PointOcc: Cylindrical tri-perspective view for point-based 3D semantic occupancy prediction","author":"Zuo","year":"2023","journal-title":"arXiv:2308.16896"},{"key":"ref24","article-title":"SPOT: Scalable 3D pre-training via occupancy prediction for learning transferable 3D representations","author":"Yan","year":"2023","journal-title":"arXiv:2309.10527"},{"key":"ref25","article-title":"A spatiotemporal approach to tri-perspective representation for 3D semantic occupancy prediction","author":"Silva","year":"2024","journal-title":"arXiv:2401.13785"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52733.2024.01884"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/TIP.2024.3461989"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52733.2024.01624"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2023.3343749"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV51070.2023.01986"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52733.2024.02030"},{"key":"ref32","first-page":"79618","article-title":"OctreeOcc: Efficient and multi-granularity occupancy prediction using octree queries","volume-title":"Proc. NeurIPS","author":"Lu"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52733.2024.01915"},{"key":"ref34","article-title":"FlashOcc: Fast and memory-efficient occupancy prediction via channel-to-height plugin","author":"Yu","year":"2023","journal-title":"arXiv:2311.12058"},{"key":"ref35","article-title":"FB-OCC: 3D occupancy prediction based on forward-backward view transformation","author":"Li","year":"2023","journal-title":"arXiv:2307.01492"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10610625"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-72624-8_4"},{"key":"ref38","article-title":"OccupancyDETR: Using DETR for mixed dense-sparse 3D occupancy prediction","author":"Jia","year":"2023","journal-title":"arXiv:2309.08504"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV51070.2023.00772"},{"key":"ref40","article-title":"Learning occupancy for monocular 3D object detection","author":"Peng","year":"2023","journal-title":"arXiv:2305.15694"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v38i6.28449"},{"key":"ref42","article-title":"UniVision: A unified framework for vision-centric 3D perception","author":"Hong","year":"2024","journal-title":"arXiv:2401.06994"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v38i7.28600"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3362635"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.24963\/ijcai.2024\/107"},{"key":"ref46","article-title":"DepthSSC: Monocular 3D semantic scene completion via depth-spatial alignment and voxel adaptation","author":"Yao","year":"2023","journal-title":"arXiv:2311.17084"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v38i7.28533"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10611537"},{"key":"ref49","article-title":"OccDepth: A depth-aware method for 3D semantic scene completion","author":"Miao","year":"2023","journal-title":"arXiv:2302.13540"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1109\/IROS58592.2024.10802434"},{"key":"ref51","article-title":"Fully sparse 3D occupancy prediction","author":"Liu","year":"2023","journal-title":"arXiv:2312.17118"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1109\/tiv.2024.3453293"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1109\/3DV62453.2024.00133"},{"key":"ref54","article-title":"OccNeRF: Advancing 3D occupancy prediction in LiDAR-free environments","author":"Zhang","year":"2023","journal-title":"arXiv:2312.09243"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2023.3322409"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52733.2024.01885"},{"key":"ref57","article-title":"OccFlowNet: Towards self-supervised occupancy estimation via differentiable rendering and occupancy flow","author":"Boeder","year":"2024","journal-title":"arXiv:2402.12792"},{"key":"ref58","first-page":"50545","article-title":"POP-3D: Open-vocabulary 3D occupancy prediction from images","volume-title":"Proc. NeurIPS","author":"Vobeck\u00fd"},{"key":"ref59","article-title":"OVO: Open-vocabulary occupancy","author":"Tan","year":"2023","journal-title":"arXiv:2305.16133"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2022.3145588"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2023.3268241"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-26293-7_21"},{"key":"ref63","first-page":"2062","article-title":"Multi-robot scene completion: Towards task-agnostic collaborative perception","volume-title":"Proc. CoRL","author":"Li"},{"key":"ref64","article-title":"V2 VSSC: A 3D semantic scene completion benchmark for perception with vehicle to vehicle communication","author":"Zhang","year":"2024","journal-title":"arXiv:2402.04671"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52733.2024.01704"},{"key":"ref66","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV51070.2023.01636"},{"key":"ref67","first-page":"64318","article-title":"Occ3D: A large-scale 3D occupancy prediction benchmark for autonomous driving","volume-title":"Proc. NeurIPS","author":"Tian"},{"key":"ref68","doi-asserted-by":"publisher","DOI":"10.1109\/IROS58592.2024.10802143"},{"key":"ref69","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2012.6248074"},{"key":"ref70","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.01164"},{"key":"ref71","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.00252"},{"key":"ref72","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3191040"},{"key":"ref73","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR46437.2021.00548"},{"key":"ref74","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-19839-7_25"},{"key":"ref75","first-page":"1","article-title":"Time will tell: New outlooks and a baseline for temporal multi-view 3D object detection","volume-title":"Proc. ICLR","author":"Park"},{"key":"ref76","doi-asserted-by":"publisher","DOI":"10.1109\/IROS51168.2021.9636202"},{"key":"ref77","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV51070.2023.00795"},{"key":"ref78","doi-asserted-by":"publisher","DOI":"10.1093\/bjps\/50.4.521"},{"key":"ref79","first-page":"1","article-title":"An image is worth 16\u00d716 words: Transformers for image recognition at scale","volume-title":"Proc. ICLR","author":"Dosovitskiy"},{"key":"ref80","first-page":"30008","article-title":"Focal attention for long-range interactions in vision transformers","volume-title":"Proc. NeurIPS","volume":"34","author":"Yang"},{"key":"ref81","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52729.2023.00890"},{"key":"ref82","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.00425"},{"key":"ref83","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.00341"},{"key":"ref84","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2018.00464"},{"key":"ref85","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2022.3179507"},{"key":"ref86","first-page":"1","article-title":"Adam: A method for stochastic optimization","volume-title":"Proc. ICLR","author":"Kingma"},{"key":"ref87","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-01258-8_45"}],"container-title":["IEEE Transactions on Intelligent Transportation Systems"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/6979\/11220917\/11021533.pdf?arnumber=11021533","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,30]],"date-time":"2025-10-30T18:06:09Z","timestamp":1761847569000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11021533\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,10]]},"references-count":87,"journal-issue":{"issue":"10"},"URL":"https:\/\/doi.org\/10.1109\/tits.2025.3572200","relation":{},"ISSN":["1524-9050","1558-0016"],"issn-type":[{"type":"print","value":"1524-9050"},{"type":"electronic","value":"1558-0016"}],"subject":[],"published":{"date-parts":[[2025,10]]}}}