Enhancing 3D Semantic Scene Completion with a Refinement Module

We propose ESSC-RM, a plug-and-play Enhancing framework for Semantic Scene Completion with a Refinement Module, which can be seamlessly integrated into existing SSC models. ESSC-RM operates in two phases: a baseline SSC network first produces a coarse voxel prediction, which is subsequently refined by a 3D U-Net-based Prediction Noise-Aware Module (PNAM) and Voxel-level Local Geometry Module (VLGM) under multiscale supervision. Experiments on SemanticKITTI show that ESSC-RM consistently improves semantic prediction performance. When integrated into CGFormer and MonoScene, the mean IoU increases from 16.87% to 17.27% and from 11.08% to 11.51%, respectively. These results demonstrate that ESSC-RM serves as a general refinement framework applicable to a wide range of SSC models.

Dunxing Zhang, Jiachen Lu, Han Yang, Lei Bao, Bo Song (1 and 2) __INSTITUTION_5__ National Science Center for Earthquake Engineering, Tianjin University, Tianjin, China, (2) School of Civil Engineering, Tianjin University, Tianjin, China, (3) Technical University of Munich, Munich, Germany) · 2025