RadarGSOcc: Doppler-Aware 3D Semantic Occupancy Prediction Using 4D Radar Tensor with Geometric-Semantic Feature Extraction

3D semantic occupancy prediction is crucial for autonomous driving, but camera-based methods degrade in low-light conditions and LiDAR-based methods are sensitive to adverse weather. 4D radar is more robust, yet its sparsity and the high cost of radar tensor processing limit its use. We propose Rada