https://tsinghua-mars-lab.github.io/Occ3D/
https://wzzheng.net/TPVFormer/
https://github.com/zhangyp15/OccFormer
https://github.com/FANG-MING/occupancy-for-nuscenes
https://github.com/CVPR2023-3D-Occupancy-Prediction/CVPR2023-3D-Occupancy-Prediction/tree/main