Recently, image-based 3D semantic occupancy prediction has become a hot topic in 3D scene understanding for autonomous driving. Compared with the bounding box form of 3D object detection, the ability to describe the fine-grained contours of any obstacles in the scene is the key insight of voxel occupancy representation, which facilitates subsequent tasks of autonomous driving. In this work, we propose CSV-Occ to address the following two challenges: (1) Existing methods fuse temporal information based on the attention mechanism, but are limited by high complexity. We extend the state space model to support multi-input sequence interaction and conduct temporal modeling in a cascaded architecture, thereby reducing the computational complexity from quadratic to linear. (2) Existing methods are limited by semantic ambiguity, resulting in the centers of foreground objects often being predicted as empty voxels. We enable the model to explicitly vote for the instance center to which the voxels belong and spontaneously learn to utilize the other voxel features of the same instance to update the semantics of the internal vacancies of the objects from coarse to fine. Experiments on the Occ3D-nuScenes dataset show that our method achieves state-of-the-art in camera-based 3D semantic occupancy prediction and also performs well on lidar point cloud semantic segmentation on the nuScenes dataset. Therefore, we believe that CSV-Occ is beneficial to the community and industry of autonomous vehicles.

In this study, an unsupervised clustering algorithm is proposed to label superpixel density images. Firstly, the authors propose a novel superpixel segmentation algorithm driven by a modified fuzzy C‐means objective function, Kullback–Leibler (KL) divergence, and an entropy term, which generate superpixels with good boundary adherence and intensity homogeneity. In this model, the logarithm of Gaussian distribution as a new distance metric is used to improve the accuracy of boundary pixel classification, the KL divergence is applied to regularise the fuzzy objective function. Based on this model, the generated superpixel intensity images with a highly distinctive background colour from the colour of the target are obtained. Grouping cues generated by superpixels can affect the performance of image clustering greatly. Next, according to the small amount of clustering data generated by the superpixel intensity images, they construct a non‐symmetric mixture model based on a mixture of Gaussian distribution and Cauchy distribution for implementing image clustering. Thus, clustering of colour images is transformed into clustering of these newly generated data. The advantage of this model is its well adaption to different shapes of observed data. Experimental results on publicly available data sets are provided to demonstrate the effectiveness of the proposed algorithm.