GNFormer: Gaussian Neural Field Transformer for Efficient Camera-based Occupancy Prediction

Camera-based occupancy prediction provides geometric and semantic scene understanding for robot perception and has been adopted in autonomous vehicle and UAV perception systems. Gaussian primitives offer a promising alternative by potentially representing only occupied regions, thereby concentrating computation and representational capacity where needed and reducing wasted computation and memory in empty space.

Aus dem Abstract. Unsere Zusammenfassung folgt.