SUPPLEMENTARY MATERIAL: UNRAVELING VANISHING POINT AND CALIBRATING TINY OBJECTS FOR SEMANTIC SCENE COMPLETION

Semantic Scene Completion (SSC) aims to jointly predict semantic categories and 3D occupancy of a scene from coarse inputs, which is crucial for providing reliable perception in autonomous driving. In this paper, we enhance existing SSC models by unveiling the vanishing point region, specifically addressing challenges posed by tiny objects and voxels distant from the monocular camera. At the core of our method, we propose the Vanishing Point Aggregator (VPA) to prioritize features in high-density central areas. The proposed VPA seamlessly integrates the Vanishing Point Query (VPQ) with the vanilla instance query via a cross-attention fusion mechanism to refine feature representation. To evaluate the effectiveness of our method, we conduct comprehensive experiments on two standard SSC benchmarks and demonstrate that our method achieves SOTA performance. Our approach significantly improves the performance across various semantic classes, including a notable gain of 0.37 mIoU on SemanticKITTI and 0.5 mIoU on SSCBench-KITTI-360 for tiny objects. Ablation studies further validate the efficacy of our innovative query fusion strategy, showcasing its capability in long-range predictions for SSC tasks.