Abstract
Monocular semantic scene completion (SSC) for quadruped robots remains underexplored in real crowded indoor environments, where human-scene occlusion disrupts static geometry and human occupancy predictions are often incomplete or spatially misplaced. We present CrowdOcc, an RGB-D dataset and monocular SSC framework for this setting. CrowdOcc contains 25.1K frames from 11 indoor scenes, with semantic occupancy annotations constructed through static dynamic decoupling. Our framework combines: (i) Normal Guided Scene Geometry Fusion (NGSGF) to complement depth-aware lifting with surface-normal cues for occlusion robust geometry; and (ii) Human-Centric Sparse Interaction (HCSI) to selectively model human-human and local human scene relations in 3D. Our method achieves state-of-the-art SSC performance on CrowdOcc's scene-disjoint test set, reaching 15.80 IoU, 11.40 mIoU, and 46.23 Human IoU, demonstrating generalization to unseen indoor scenes.
Keywords
Publication details
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Cite this article
APA 7
Chen, F., Hu, J., Chen, Y., Li, J., Liang, Y., Gao, B., Huang, Y., & Zhang, Y. (2026). CrowdOcc: Monocular Semantic Scene Completion for Quadruped Robots in Crowded Indoor Environments. https://omanscience.com/en/articles/crowdocc-monocular-semantic-scene-completion-for-quadruped-robots-in-crowded-indoor-environments
MLA 9
Chen, Feiyang, et al. "CrowdOcc: Monocular Semantic Scene Completion for Quadruped Robots in Crowded Indoor Environments." https://omanscience.com/en/articles/crowdocc-monocular-semantic-scene-completion-for-quadruped-robots-in-crowded-indoor-environments.
Chicago (author–date)
Chen, Feiyang, Jincheng Hu, Yiduo Chen, Jihao Li, Yue Liang, Bingzhao Gao, Yanjun Huang, and Yuanjian Zhang. 2026. "CrowdOcc: Monocular Semantic Scene Completion for Quadruped Robots in Crowded Indoor Environments." https://omanscience.com/en/articles/crowdocc-monocular-semantic-scene-completion-for-quadruped-robots-in-crowded-indoor-environments.
Harvard
Chen, F., Hu, J., Chen, Y., Li, J., Liang, Y., Gao, B., Huang, Y. and Zhang, Y. (2026) 'CrowdOcc: Monocular Semantic Scene Completion for Quadruped Robots in Crowded Indoor Environments', Available at: https://omanscience.com/en/articles/crowdocc-monocular-semantic-scene-completion-for-quadruped-robots-in-crowded-indoor-environments.
Vancouver
Chen F, Hu J, Chen Y, Li J, Liang Y, Gao B, et al. CrowdOcc: Monocular Semantic Scene Completion for Quadruped Robots in Crowded Indoor Environments. https://omanscience.com/en/articles/crowdocc-monocular-semantic-scene-completion-for-quadruped-robots-in-crowded-indoor-environments
IEEE
F. Chen, J. Hu, Y. Chen, J. Li, Y. Liang, B. Gao, Y. Huang, and Y. Zhang, "CrowdOcc: Monocular Semantic Scene Completion for Quadruped Robots in Crowded Indoor Environments," https://omanscience.com/en/articles/crowdocc-monocular-semantic-scene-completion-for-quadruped-robots-in-crowded-indoor-environments.