Occ3D: A Large-Scale 3D Occupancy Prediction Benchmark for Autonomous Driving - Tian, Xiaoyu; Jiang, Tao; Yun, Longfei; Mao, Yucheng; Yang, Huitong; Wang, Yue; Wang, Yilun; Zhao, Hang (Advances in Neural Information Processing Systems, 2023)