Progressive Gaussian Transformer with Anisotropy-aware Sampling for Open
  Vocabulary Occupancy Prediction
Authors: name: Chi Yan; name: Dan Xu
Published: 2025-10-06 12:36:07

Abstract: The 3D occupancy prediction task has witnessed remarkable progress in recent
years, playing a crucial role in vision-based autonomous driving systems. While
traditional methods are limited to fixed semantic categories, recent approaches
have moved towards predicting text-aligned features to enable open-vocabulary
text queries in real-world scenes. However, there exists a trade-off in
text-aligned scene modeling: sparse Gaussian representation struggles to
capture small objects in the scene, while dense representation incurs
significant computational overhead. To address these limitations, we present
PG-Occ, an innovative Progressive Gaussian Transformer Framework that enables
open-vocabulary 3D occupancy prediction. Our framework employs progressive
online densification, a feed-forward strategy that gradually enhances the 3D
Gaussian representation to capture fine-grained scene details. By iteratively
enhancing the representation, the framework achieves increasingly precise and
detailed scene understanding. Another key contribution is the introduction of
an anisotropy-aware sampling strategy with spatio-temporal fusion, which
adaptively assigns receptive fields to Gaussians at different scales and
stages, enabling more effective feature aggregation and richer scene
information capture. Through extensive evaluations, we demonstrate that PG-Occ
achieves state-of-the-art performance with a relative 14.3% mIoU improvement
over the previous best performing method. Code and pretrained models will be
released upon publication on our project page:
https://yanchi-3dv.github.io/PG-Occ