GaussianFormer: Scene as Gaussians for Vision-Based 3D Semantic Occupancy Prediction

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Abstract

method to generate 3D occupancy predictions, which only aggregates the neighboring Gaussians for a certain position. We conduct extensive experiments on the widely adopted nuScenes and KITTI-360 datasets. Experimental results demonstrate that GaussianFormer achieves comparable performance with state-of-the-art methods with only 17.8% -24.8% of their memory consumption. Code is available at: https://github. com/huang-yh/GaussianFormer.

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