fengyi233/PanoBench

Canonical occupancy annotations

Sparse occupancy stored in the PanoBench canonical format, converted from public semantic occupancy benchmarks. PanoBench's own annotations are not part of this upload.

Each frame is <dataset>/<scene>/<frame>.npz:

• occupancy: [N, 4] uint16, Fortran order, columns (x, y, z, 1000 * semantic + instance)
• valid_mask: packed dense bool mask
• volume_size: [3] int32
• voxel_size: scalar float32, meters
• voxel_origin: [3] float32

Folder	Source	Frames	Voxel size
occ3d	Occ3D-nuScenes	34,149	0.4 m
surroundocc	SurroundOcc	34,149	0.5 m
open_occupancy	OpenOccupancy	34,149	0.2 m
sscbench_kitti360	SSCBench-KITTI-360	12,464	0.2 m
semantickitti	SemanticKITTI, sequences 00–10	23,201	0.2 m

These files are converted from the original public releases and should be used under the licenses of those datasets.