DRVR uses range-view and geometry-aware voxel-view encoders plus fusion to deliver 5.4% higher mIoU and 2.1x faster inference than multi-sweep baselines on nuScenes-Occupancy from single sweeps.
Robust 3d se- mantic occupancy prediction with calibration-free spatial transformation,
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Semantic Occupancy Prediction with Dual Range-Voxel Representation
DRVR uses range-view and geometry-aware voxel-view encoders plus fusion to deliver 5.4% higher mIoU and 2.1x faster inference than multi-sweep baselines on nuScenes-Occupancy from single sweeps.