Is it possible to create a panoptic occupancy map using your code?

[joonsu0109gh]

I want to create a panoptic occupancy map using panoptic LiDAR labels. I'm curious if it's possible to generate a panoptic occupancy map using your code.

[weiyithu]

Hi, you mean the panoptic occupancy labels or using the panoptic images as inputs?

[joonsu0109gh]

I mean panoptic occupancy labels.

Thank you for the prompt response.

[weiyithu]

Yeah, our generated labels are panoptic occupancy labels, not monocular ones.

[joonsu0109gh]

Oh, what I want to ask is whether I can add instance labels to the occupancy using NuScenes panoptic LiDAR segmentation labels. I apologize for any confusion.

[lqzhao]

Yes, you can add instance labels to the foreground objects according to the known bounding boxes. Each bounding box has a unique 'object token', which can be the key for you to distinguish different objects with the same semantic labels.

[joonsu0109gh]

Do you mean that I can add instance labels with a bounding box without using LiDAR panoptic segmentation labels?

[lqzhao]

Hi, I'm not very familiar with "LiDAR panoptic segmentation labels" in nuScenes. If nuScenes already provides point-wise "LiDAR panoptic segmentation labels", you can use them to replace the LiDAR semantic segmentation labels in our occupancy generation pipeline.

The bounding boxes are used in our generation pipeline to crop movable objects from the scene. If nuScenes doesn't provide point-wise "LiDAR panoptic segmentation labels", you can use 'object token' to generate instance-level occupancy labels.