GNFormer: Gaussian Neural Field Transformer for Efficient Camera-based Occupancy Prediction

arXiv:2610.15522 · cs.RO, cs.CV · Submitted 2026-10-11 · Read on arXiv

cs.RO, cs.CV

Submitted: 2026-10-11

Updated: 2026-10-11

Comments: The code will be released in https://github.com/GCChen97/gnformer_occ

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Transformer — 1× in this paper · explained in 2 episodes

Sources

• FlashOcc: Fast and Memory-Efficient Occupancy Prediction via Channel-to-Height Plugin
• SuperOcc: Toward Cohesive Temporal Modeling for Superquadric-based 3D Occupancy Prediction

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