Occupancy prediction is a critical task in autonomous driving, enabling better understanding of 3D environments for downstream tasks. Previous methods often rely on dense back-projection methods to extract 3D features from 2D images by distributing information across all voxels. While effective, these approaches are computationally expensive and inefficient due to the dense nature of 3D voxel representations. Inspired by recent works, we address this challenge by instance-level attention that utilizes representative queries for groups of voxels, reducing computational cost while maintaining competitive performance. By applying attention mechanisms to this instance-level representation, we achieve an mIoU score of 35.26 with a latency of 0.04s on the <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$O$</tex>cc3D dataset in RTX4090. These results demonstrate that focusing on instance-level representations provides an efficient and practical solution for real-time occupancy prediction tasks.

Multispectral image alignment plays a crucial role in exploiting complementary information between different spectral images. Homography-based image alignment can be a practical solution considering a tradeoff between runtime and accuracy. Existing methods, however, have difficulty with multispectral images due to the additional spectral gap or require expensive human labels to train models. To solve these problems, this paper presents a comprehensive study on multispectral homography estimation in an unsupervised learning manner. We propose a curriculum data augmentation, an effective solution for models learning spectrum-agnostic representation by providing diverse input pairs. We also propose to use the phase congruency loss that explicitly calculates the reconstruction between images based on low-level structural information in the frequency domain. To encourage multispectral alignment research, we introduce a novel FLIR corresponding dataset that has manually labeled local correspondences between multispectral images. Our model achieves state-of-the-art alignment performance on the proposed FLIR correspondence dataset among supervised and unsupervised methods while running at <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">151 FPS</i> . Furthermore, our model shows good generalization ability on the M3FD dataset without finetuning.