Systems and methods for predicting occupancy in a voxel representation of an environment

An apparatus to process image data, the apparatus comprising:

• one or more memories configured to store a plurality of images;
• and
• one or more processors coupled to the one or more memories and configured to:
• extract a plurality of features from the plurality of images of an environment, wherein the plurality of images include different perspectives on the environment;
• process the plurality of features to generate a voxel-based representation of the environment, wherein the voxel-based representation includes a plurality of voxels;
• and
• analyze the plurality of images and the voxel-based representation to classify a first subset of the plurality of voxels into a first object category and to classify a second subset of the plurality of voxels into a second object category.