arxivcs.CV2026-07-06
SparseOcc++: Geometry-Aware Sparse Latent Representation for Semantic Occupancy Prediction
Pin Tang, Zhongdao Wang, Guoqing Wang, Xiangxuan Ren, Chao Ma
Vision-based 3D semantic occupancy prediction is essential for autonomous driving, yet dense voxel representations waste computation on largely empty space, while BEV and TPV projections compromise fine-grained 3D structure. Fully sparse representations offer an attractive altern…