TFusionOcc: Student's t-Distribution Based Object-Centric Multi-Sensor Fusion Framework for 3D Occupancy Prediction

Description

3D semantic occupancy prediction enables autonomous vehicles (AVs) to perceive fine-grained geometric and semantic structure of their surroundings from onboard sensors, which is essential for safe decision-making and navigation. Recent models for 3D semantic occupancy prediction have successfully addressed the challenge of describing real-world objects with varied shapes and classes. However, the intermediate representations used by existing methods for 3D semantic occupancy prediction rely heav

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