GDFusion fuses scene, motion, and geometry cues through gradient-descent-style RNN updates, improving mIoU by 1.4 to 4.8 points on Occ3D while cutting inference memory by 27 to 72 percent.
nuscenes: A multi- modal dataset for autonomous driving
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Rethinking Temporal Fusion with a Unified Gradient Descent View for 3D Semantic Occupancy Prediction
GDFusion fuses scene, motion, and geometry cues through gradient-descent-style RNN updates, improving mIoU by 1.4 to 4.8 points on Occ3D while cutting inference memory by 27 to 72 percent.