Preprint
Aug 2026
OPUS-V2: Bridging the Gap between Sparse Points and Dense Voxels
The point-based occupancy prediction paradigm has achieved an attractive trade-off between accuracy and efficiency by modeling 3D space sparsely. However, its predictions inherently mismatch the dense voxel-based occupancy required by self-driving systems, necessitating hand-crafted heuristics during training and infer...
Jia-Bao Wang, Qiang Meng, Liujiang Yan et al.
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