@article{KhuranaECCV2022,
  Author={Khurana, Tarasha and Hu, Peiyun and Dave, Achal and Ziglar, Jason and Held, David and Ramanan, Deva},
  Title={Differentiable Raycasting for Self-supervised Occupancy Forecasting},
  Journal={ECCV},
  Year={2022}
}