VGGT-Occ: Geometry-Grounded and Density-Aware Gated Fusion for 3D Occupancy Prediction

Xun Chen; Tianchen Deng; Rui Wang; Fangjinhua Wang; Junyi Ma; Hongming Shen; Hesheng Wang; Danwei Wang

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arXiv · 2605.16911

VGGT-Occ: Geometry-Grounded and Density-Aware Gated Fusion for 3D Occupancy Prediction

Xun Chen·Tianchen Deng·Rui Wang·Fangjinhua Wang·Junyi Ma·Hongming Shen·Hesheng Wang·Danwei Wang

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Abstract

3D semantic occupancy prediction requires accurate 2D-to-3D feature lifting, yet current methods restrict camera geometry to initial projections. Subsequent operations like offset learning, attention weighting, and cross-camera aggregation remain geometry-agnostic, ignoring essential physical constraints. We propose VGGT-Occ, a framework that embeds geometric tokens throughout the entire pipeline. We introduce Projection-Aware Deformable Attention (PA-DA) to inject geometry into all attention stages. PA-DA projects 3D offsets back to image planes and leverages the projection Jacobian as an additive bias to suppress unreliable observations. Features are then integrated through a view-quality semantic gate for cross-view consistency. To optimize both efficiency and performance, we employ a sequential coarse-to-fine decoder with gated fusion, where low-resolution features are refined into higher resolutions, allocating computation by information density while substantially reducing decoder cost. Extensive evaluations demonstrate the effectiveness and accuracy of our approach. On SurroundOcc-nuScenes, VGGT-Occ achieves 33.00\% IoU and 21.08\% mIoU ($T{=}1$), and 33.64\% IoU and 21.43\% mIoU with $T{=}2$ inference, outperforming existing methods, with only ${\sim}41$M trainable parameters in the occupancy head. Code will be released publicly.

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BibTeX RIS

Xun Chen, Tianchen Deng, Rui Wang, Fangjinhua Wang, Junyi Ma, Hongming Shen, Hesheng Wang, Danwei Wang. 2026-05-16. VGGT-Occ: Geometry-Grounded and Density-Aware Gated Fusion for 3D Occupancy Prediction. https://arxiv.org/abs/2605.16911

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