Monocular SSCExpert
CrowdOcc: Monocular Semantic Scene Completion for Quadruped Robots in Crowded Indoor Environments
The authors present CrowdOcc, a preprint introducing an RGB-D dataset of 25.1K quadruped-captured frames in crowded indoor scenes and a monocular semantic scene completion model with surface-normal fusion and sparse human-centric 3D interaction. On held-out scenes it reaches 15.80 IoU, 11.40 mIoU, and 46.23 Human IoU, outperforming prior baselines and improving human, wall, and floor reconstruction. This matters because onboard single-camera dense 3D occupancy for low-viewpoint robots in cluttered human environments remains underexplored.