Bi-SSC: Geometric-Semantic Bidirectional Fusion for Camera-based 3D Semantic Scene Completion
Authors: Yujie Xue, Ruihui Li, Fan Wu, Zhuo Tang, Kenli Li, Mingxing Duan

Camera-based Semantic Scene Completion (SSC) is to infer the full geometry of objects and scenes from only 2D images. The task is particularly challenging for those invisible areas due to the inherent occlusions and lighting ambiguity. Existing works ignore the information missing or ambiguous in those shaded and occluded areas resulting in distorted geometric prediction. To address this issue we propose a novel method Bi-SSC bidirectional geometric semantic fusion for camera-based 3D semantic scene completion. The key insight is to use the neighboring structure of objects in the image and the spatial differences from different perspectives to compensate for the lack of information in occluded areas. Specifically we introduce a spatial sensory fusion module with multiple association attention to improve semantic correlation in geometric distributions. This module works within single view and across stereo views to achieve global spatial consistency. Experimental results demonstrate that Bi-SSC outperforms state-of-the-art camera-based methods on SemanticKITTI particularly excelling in those invisible and shaded areas.