VGGT-Occ embeds geometric tokens via PA-DA and uses sequential coarse-to-fine gated fusion to reach 33.00% IoU and 21.08% mIoU on SurroundOcc-nuScenes while using only ~41M parameters in the occupancy head.
RenderOcc: Vision-centric 3D occupancy prediction with 2D rendering supervision
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VGGT-Occ: Geometry-Grounded and Density-Aware Gated Fusion for 3D Occupancy Prediction
VGGT-Occ embeds geometric tokens via PA-DA and uses sequential coarse-to-fine gated fusion to reach 33.00% IoU and 21.08% mIoU on SurroundOcc-nuScenes while using only ~41M parameters in the occupancy head.