視覚幾何基盤ガウススプラッティングによるセマンティック占有予測
VG3S: Visual Geometry Grounded Gaussian Splatting for Semantic Occupancy Prediction
視覚基盤モデルの3D幾何事前知識をガウススプラッティングに注入し、自動運転のセマンティック占有予測精度を向上させるフレームワークVG3Sを提案。
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著者: Xiaoyang Yan, Muleilan Pei, Shaojie Shen
分類: cs.CV, cs.RO
原文アブストラクト
3D semantic occupancy prediction has become a crucial perception task for comprehensive scene understanding in autonomous driving. While recent advances have explored 3D Gaussian splatting for occupancy modeling to substantially reduce computational overhead, the generation of high-quality 3D Gaussians relies heavily on accurate geometric cues, which are often insufficient in purely vision-centric paradigms. To bridge this gap, we advocate for injecting the strong geometric grounding capability from Vision Foundation Models (VFMs) into occupancy prediction. In this regard, we introduce Visual Geometry Grounded Gaussian Splatting (VG3S), a novel framework that empowers Gaussian-based occupancy prediction with cross-view 3D geometric grounding. Specifically, to fully exploit the rich 3D geometric priors from a frozen VFM, we propose a plug-and-play hierarchical geometric feature adapter, which can effectively transform generic VFM tokens via feature aggregation, task-specific alignment, and multi-scale restructuring. Extensive experiments on the nuScenes occupancy benchmark demonstrate that VG3S achieves remarkable improvements of 12.6% in IoU and 7.5% in mIoU over the baseline. Furthermore, we show that VG3S generalizes seamlessly across diverse VFMs, consistently enhancing occupancy prediction accuracy and firmly underscoring the immense value of integrating priors derived from powerful, pre-trained geometry-grounded VFMs.
