MS-Occ: Multi-Stage LiDAR-Camera Fusion for 3D Semantic Occupancy Prediction

Accurate 3D semantic occupancy perception is essential for autonomous driving in complex environments with diverse and irregular objects. While vision-centric methods suffer from geometric inaccuracies, LiDAR-based approaches often lack rich semantic information. To address these limitations, MS-Occ, a novel multi-stage LiDAR-camera fusion framework which includes middle-stage fusion and late-stage fusion, is proposed, integrating LiDAR's geometric fidelity with camera based semantic richness via hierarchical cross-modal fusion. The framework introduces innovations at two critical stages: (1) In the middle-stage feature fusion, the Gaussian-Geo module leverages Gaussian kernel rendering on sparse LiDAR depth maps to enhance 2D image features with dense geometric priors, and the Semantic-Aware module enriches LiDAR voxels with semantic context via deformable cross-attention; (2) In the late-stage voxel fusion, the Adaptive Fusion (AF) module dynamically balances voxel features across modalities, while the High Classification Confidence Voxel Fusion (HCCVF) module resolves semantic in consistencies using self-attention-based refinement. Experiments on two large-scale benchmarks demonstrate state-of-the-art per formance. On nuScenes-OpenOccupancy, MS-Occ achieves an Intersection over Union (IoU) of 32.1% and a mean IoU (mIoU) of 25.3%, surpassing the state-of-the-art by +0.7% IoU and +2.4% mIoU. Furthermore, on the SemanticKITTI benchmark, our method achieves a new state-of-the-art mIoU of 24.08%, robustly validating its generalization capabilities. Ablation studies further confirm the effectiveness of each individual module, highlighting substantial improvements in the perception of small objects and reinforcing the practical value of MS-Occ for safety critical autonomous driving scenarios.