Easy3D-Labels: Supervising Semantic Occupancy Estimation with 3D Pseudo-Labels for Automotive Perception

ArXi:2509.26087v4 Announce Type: replace In perception for automated vehicles, safety is critical not only for the driver but also for other agents in the scene, particularly vulnerable road users such as pedestrians and cyclists. Previous representation methods, such as Bird's Eye View, collapse vertical information, leading to ambiguity in 3D object localisation and limiting accurate understanding of the environment for downstream tasks such as motion planning and scene forecasting.