GEM-Occ: From Visual Geometry Evidence to Embodied Semantic Occupancy Memory
This paper introduces the HIOcc hierarchical indoor occupancy benchmark and the GEM-Occ Gaussian Evidence Memory framework, which treats local visual geometry predictions as transient evidence and fuses them into a persistent hierarchical memory, enabling semantic occupancy mapping from single-view to building-level, and showing improvements in stability and scalability across multiple datasets.
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[Submitted on 6 Jul 2026]
Title:GEM-Occ: From Visual Geometry Evidence to Embodied Semantic Occupancy Memory
View a PDF of the paper titled GEM-Occ: From Visual Geometry Evidence to Embodied Semantic Occupancy Memory, by Hu Zhu and 8 other authors
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Abstract:Semantic occupancy provides a structured spatial memory for embodied indoor agents by jointly representing occupied regions, observed free space, unknown areas, and object semantics. However, existing indoor occupancy benchmarks and methods mainly focus on single-view prediction or room-level online perception, leaving long-horizon semantic mapping across connected indoor spaces underexplored. We introduce HIOcc, a hierarchical indoor occupancy benchmark that unifies ScanNet, ScanNet++, and Matterport3D under a common sparse semantic occupancy format while preserving their native observation geometries, including perspective RGB-D frames and pano-centric observation groups. HIOcc supports three complementary evaluation regimes: local semantic occupancy prediction, room-level online occupancy mapping, and building-level mapping across connected panoramic environments. We further propose GEM-Occ, a Gaussian Evidence Memory framework for semantic occupancy mapping. Rather than using pointmaps as persistent map states, GEM-Occ treats local visual geometry predictions as transient evidence, converts them into semantic Gaussian occupancy evidence and free-space ray evidence, and fuses them into a persistent hierarchical memory through visibility- and uncertainty-aware causal updates. The memory is organized into local caches, room-level submaps, and a building-level graph, and can be queried at any time through Gaussian-to-occupancy splatting. Experiments on HIOcc show that GEM-Occ improves local occupancy prediction, online map stability, free-space reasoning, revisit consistency, and building-level scalability over prior indoor occupancy and Gaussian-based mapping baselines.
Comments: 19 pages, 6 figures. Project page: this https URL
Subjects:
Robotics (cs.RO); Computer Vision and Pattern Recognition (cs.CV)
Cite as: arXiv:2607.05543 [cs.RO]
(or arXiv:2607.05543v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2607.05543
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Hu Zhu [view email] [v1] Mon, 6 Jul 2026 18:26:27 UTC (14,974 KB)
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