A VLM-assisted adapter and gating mechanism dynamically fuses camera and LiDAR features for adverse-weather 3D semantic occupancy prediction, raising mIoU to 26.3 on OccMamba and 21.1 on M-CONet over baselines on nuScenes.
Occmamba: Semantic occupancy prediction with state space models
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WeatherOcc3D: VLM-Assisted Adverse Weather Aware 3D Semantic Occupancy Prediction
A VLM-assisted adapter and gating mechanism dynamically fuses camera and LiDAR features for adverse-weather 3D semantic occupancy prediction, raising mIoU to 26.3 on OccMamba and 21.1 on M-CONet over baselines on nuScenes.