Learning Adaptive Semantic Gaussian Allocation for 3D Occupancy

Kanglin Ning; Yiran Zhao; Wenrui Li; Houde Quan; Qifan Li; Xingtao Wang; Xiaopeng Fan

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arXiv · 2607.21896

Learning Adaptive Semantic Gaussian Allocation for 3D Occupancy

Kanglin Ning·Yiran Zhao·Wenrui Li·Houde Quan·Qifan Li·Xingtao Wang·Xiaopeng Fan

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Abstract

Semantic 3D Gaussians provide a compact representation for 3D semantic occupancy prediction by rendering semantic primitives into a voxel volume under voxel-wise supervision. Recent methods have improved the modeling ability and efficiency of this representation through more flexible primitive shapes, geometry-guided initialization, and progressive densification. However, these advances mainly determine how primitives are represented, initialized, or added, and do not explicitly address how to select the most useful Gaussians when their total number must be limited to control memory and computation. This imbalance creates an allocation bottleneck: redundant Gaussians remain in simple regions, while difficult regions receive insufficient semantic support. We propose the Semantic Gaussian Allocation Transformer (SAGFormer), which uses Gaussian attributes and local geometric-semantic features to score candidates and select a fixed final Gaussian set. Experiments on nuScenes-SurroundOcc and SSCBench-KITTI-360 show that SAGFormer improves occupancy prediction under the evaluated protocols and yields more semantically consistent and better-utilized Gaussian representations. Under similar final counts and raw coverage, it reduces semantic mixing, strengthens class-consistent voxel support, and produces fewer unused Gaussians. The results indicate that explicit capacity allocation is a useful complement to Gaussian refinement for semantic occupancy prediction.

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BibTeX RIS

Kanglin Ning, Yiran Zhao, Wenrui Li, Houde Quan, Qifan Li, Xingtao Wang, Xiaopeng Fan. 2026-07-24. Learning Adaptive Semantic Gaussian Allocation for 3D Occupancy. https://arxiv.org/abs/2607.21896

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