OccFusion: Depth Estimation Free Multi-sensor Fusion for 3D Occupancy Prediction

arXiv:2403.05329v1 Announce Type: new
Abstract: 3D occupancy prediction based on multi-sensor fusion, crucial for a reliable autonomous driving system, enables fine-grained understanding of 3D scenes. Previous fusion-based 3D occupancy predictions relied on depth estimation for processing 2D image features. However, depth estimation is an ill-posed problem, hindering the accuracy and robustness of these methods. Furthermore, fine-grained occupancy prediction demands extensive computational resources. We introduce OccFusion, a multi-modal fusion method free from depth estimation, and a corresponding point cloud sampling algorithm …

2d image 3d scenes abstract accuracy arxiv autonomous autonomous driving autonomous driving system cs.cv driving features fine-grained free fusion however image prediction predictions processing sensor type understanding