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InfraOcc: An Infrastructure Occupancy Benchmark with Static-to-Dynamic Reasoning

arXiv · AI, language, vision and robotics · article · Aug 31, 2026 · UTC

Fixed-viewpoint infrastructure sensors repeatedly observe the same traffic space, making roadside 3D occupancy structurally different from ego-vehicle perception: a near-persistent static scaffold is overlaid with sparse, short-lived dynamic events. Existing occupancy benchmarks and methods, however, are built around moving ego vehicles and neither measure nor exploit this structure, instead treating occupancy as flat one-shot voxel classification. We address this gap from both data and model perspectives. We build InfraOcc, to our knowledge, the first real-world infrastructure-side semantic o

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