PanoBench: A Panoptic Occupancy Prediction Benchmark for Autonomous Driving
Panoptic occupancy unifies 3D geometry, semantics, and instance identities, but its development is limited by scarce instance-aware annotations. Existing benchmarks mainly provide semantic labels reconstructed from incomplete sensor observations, while panoptic datasets have limited domain coverage or annotation completeness. We introduce PanoBench, a camera-centric panoptic occupancy prediction benchmark spanning synthetic and real-world driving scenes. It combines PanoBench-CarlaOcc, PanoBench-nuScenes, and PanoBench-KITTI360 through canonical data interfaces and unified evaluation protocols, providing multi-resolution annotations with persistent instance identities. The synthetic branc...
| Authors | Yi Feng, Zizhan Guo, Junwu E et al. |
|---|---|
| Primary category | cs.CV |
| Published | 16 October 2026 |
| Last updated at source | 16 October 2026 |
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