Artificial intelligence modeling techniques for vision-based occupancy determination

A system, comprising:

• a camera;
• and
• one or more processors configured to:
• obtain sensor data from a camera representing a space around an ego object during operation of the ego object;
• input the sensor data into an artificial intelligence model to cause the artificial intelligence model to generate an output representing three-dimensional (3D) occupancy data comprising a first voxel having a first size and a second voxel having a second size, the first voxel representing a first area in the space within a first threshold distance from the ego object and the second voxel representing a second area in the space that is at least in part outside of the first threshold distance;
• predict an occupancy attribute of 3D occupancy data based on the first voxel or the second voxel;
• and
• generate a dataset based on the 3D occupancy data and the occupancy attribute.

One or more non-transitory computer-readable mediums having instructions stored thereon that, when executed by one or more processors, cause the one or more processors to execute operations comprising:

• obtaining sensor data from a camera representing a space around an ego object during operation of the ego object;
• inputting the sensor data into an artificial intelligence model to cause the artificial intelligence model to generate an output representing three-dimensional (3D) occupancy data comprising a first voxel having a first size and a second voxel having a second size, the first voxel representing a first area in the space within a first threshold distance from the ego object and the second voxel representing a second area in the space that is at least in part outside of the first threshold distance;
• predicting an occupancy attribute of 3D occupancy data based on the first voxel or the second voxel;
• and
• generating a dataset based on the 3D occupancy data and the occupancy attribute.