splat

Definition

The second stage of Lift-Splat-Shoot: scatter the lifted 3D features into cells of a bird's-eye-view grid and sum the contributions landing in each cell, producing a planar feature map. Because every camera writes into the same grid, this is where multi-camera evidence actually fuses, independent of how many cameras there are. Same verb as in 3D Gaussian Splatting and the same intuition of scattering onto a surface, but a different method entirely.