arxivcs.CV2026-07-20
RayOcc: Occlusion-Aware Ray Occupancy Estimation via Gaussian Mixture Intensity
Camera-only 3D semantic occupancy prediction aims to infer voxel-wise scene semantics from multi-view images, yet remains fundamentally challenging due to depth ambiguity and occlusion. Along a single camera ray, multiple spatially separated surfaces may coexist, making occupancy…