CVFormer: Learning Circum-View Representation and Consistency for Vision-Based Occupancy Prediction via Transformers. - Zhengqi Bai; Wenjun Shi; Dongchen Zhu; Hanlong Kang; Guanghui Zhang; Gang Ye; Yang Xiao; Lei Wang 202; Xiaolin Zhang; Bo Li; Jiamao Li (ICRA, 2024)