LowRankOcc: Tensor Decomposition and Low-Rank Recovery for Vision-based 3D Semantic Occupancy Prediction

In this paper, we present a tensor decomposition and low-rank recovery approach (LowRankOcc) for vision-based 3D semantic occupancy prediction. Conventional methods model outdoor scenes with fine-grained 3D grids, but the sparsity of non-empty voxels introduces considerable spatial redundancy, leading to potential overfitting risks. In contrast, our approach leverages the intrinsic low-rank property of 3D occupancy data, factorizing voxel representations into low-rank components to efficiently mitigate spatial redundancy without sacrificing performance. Specifically, we present the Vertical-Horizontal (VH) decomposition block factorizes 3D tensors into vertical vectors and horizontal matrices. With our "decomposition-encoding-recovery" framework, we encode 3D contexts with only 1/2D convolutions and poolings, and subsequently recover the encoded compact yet informative context features back to voxel representations. Experimental results demonstrate that LowRankOcc achieves state-of-the-art performances in semantic scene completion on the SemanticKITTI dataset and 3D occupancy prediction on the nuScenes dataset.