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. However, existing Gaussian-based methods suffer from poor primitive utilization, as ineffective training objectives leave some Gaussians in empty space, while the limited expressiveness of Gaussian functions restricts their ability to model complex shapes. To address these limitati...
| Authors | Guangcheng Chen, Li He, Hong Zhang |
|---|---|
| Primary category | cs.RO |
| Published | 11 October 2026 |
| Last updated at source | 11 October 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 14 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.