GS-Occ3D: Scaling Vision-only Occupancy Reconstruction with Gaussian Splatting

Understand

Occupancy is crucial for autonomous driving, providing essential geometric priors for perception and planning.

• However, existing methods predominantly rely on LiDAR-based occupancy annotations, which limits scalability and prevents leveraging vast amounts of potential crowdsourced data for auto-labeling.
• To address this, we propose GS-Occ3D, a scalable vision-only framework that directly reconstructs occupancy.
• Vision-only occupancy reconstruction poses significant challenges due to sparse viewpoints, dynamic scene elements, severe occlusions, and long-horizon motion.