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arXiv · 2603.08521

OccTrack360: 4D Panoptic Occupancy Tracking from Surround-View Fisheye Cameras

Yongzhi Lin·Kai Luo·Yuanfan Zheng·Hao Shi·Mengfei Duan·Yang Liu·Kailun Yang
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Abstract

Understanding dynamic 3D environments in a spatially continuous and temporally consistent manner is fundamental for robotics and autonomous driving. While recent advances in occupancy prediction provide a unified representation of scene geometry and semantics, progress in 4D panoptic occupancy tracking remains limited by the lack of benchmarks that support surround-view fisheye sensing, long temporal sequences, and instance-level voxel tracking. To address this gap, we present OccTrack360, a new benchmark for 4D panoptic occupancy tracking from surround-view fisheye cameras. OccTrack360 provides substantially longer and more diverse sequences (174~2234 frames) than prior benchmarks, together with principled voxel visibility annotations, including an all-direction occlusion mask and an MEI-based fisheye field-of-view mask. To establish a strong fisheye-oriented baseline, we further propose Focus on Sphere Occ (FoSOcc), a framework that addresses two core challenges in fisheye occupancy tracking: distorted spherical projection and inaccurate voxel-space localization. FoSOcc includes a Center Focusing Module (CFM) to enhance instance-aware spatial localization through supervised focus guidance, and a Fisheye-based Enhanced Lifting (FEL) that extends perspective lifting to fisheye imaging under the Unified Projection Model. Extensive experiments on Occ3D-Waymo and OccTrack360 show that our method improves occupancy tracking quality with notable gains on geometrically regular categories, and establishes a strong baseline for future research on surround-view fisheye 4D occupancy tracking. The benchmark and source code will be made publicly available at https://github.com/YouthZest-Lin/OccTrack360.

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Yongzhi Lin, Kai Luo, Yuanfan Zheng, Hao Shi, Mengfei Duan, Yang Liu, Kailun Yang. 2026-07-26. OccTrack360: 4D Panoptic Occupancy Tracking from Surround-View Fisheye Cameras. https://arxiv.org/abs/2603.08521

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