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SSC-Priors: Exploring Semantic and Visibility Priors to Boost Lidar Semantic Scene Completion

arXiv · AI, language, vision and robotics · article · Sep 15, 2026 · UTC

This paper investigates easy strategies to boost the performance of existing networks for lidar semantic scene completion (SSC) without requiring complex architectural redesigns. The fact is that, over the last years, SSC methods have mostly pursued architectural innovations, making the models heavier and more complex, e.g., by jointly training a point cloud semantic segmentation branch. In this work, we take a step back and explore two priors used as simple ingredients (possibly noisy) to improve existing approaches: semantic pseudo-labels and sensor visibility information. Concretely, we pro

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