[Submitted on 6 Feb 2026 (v1), last revised 3 Nov 2026 (this version, v3)]
Abstract:The prediction of 3D semantic occupancy enables autonomous vehicles (AVs) to perceive the fine-grained geometric and semantic scene structure for safe navigation and decision-making. Existing methods mainly rely on either voxel-based representations, which incur redundant computation over empty regions, or object-centric Gaussian primitives, whose ellipsoidal per-primitive geometry can limit representation efficiency for complex, non-convex, and asymmetric structures under a fixed primitive and computational budget. In this paper, we present TFusionOcc, a T-primitive-based object-centric multi-sensor fusion framework for 3D semantic occupancy prediction. Specifically, we introduce a family of Student’s t-distribution-based T-primitives, including the plain T-primitive, T-Superquadric, and deformable T-Superquadric with inverse warping, where the deformable T-Superquadric serves as the key geometry-enhancing primitive. We further develop a unified probabilistic formulation based on the Student’s t-distribution and the T-mixture model (TMM) to jointly model occupancy and semantics, and design a tightly coupled multi-stage fusion architecture to integrate camera and LiDAR cues effectively. Extensive experiments on nuScenes demonstrate competitive performance against recent state-of-the-art methods and strong performance among object-centric multi-sensor approaches, while additional evaluations on nuScenes-C show robust performance across most corruption scenarios. Further evaluation on the separate SemanticKITTI benchmark demonstrates cross-dataset applicability. The code will be available at: this https URL
Submission history
From: Zhenxing Ming [view email]
[v1] Fri, 6 Feb 2026 05:43:42 UTC (16,198 KB)
[v2] Tue, 21 Apr 2026 05:48:29 UTC (15,202 KB)
[v3] Tue, 3 Nov 2026 00:47:22 UTC (8,482 KB)
