3D Occupancy Prediction on Occ3D nuScenes
47.37Mean IoULightOcc-L
Evaluation results
| Method | Links | |||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| LightOcc-LHistory Frame=8, Resolution=512×1408, Backbone=SwinB2024.12 | 47.37 | 15.5 | 54.2 | 36.3 | 53.7 | 58.4 | 34.7 | 37.2 | 34.9 | 39.2 | 40.1 | 47.8 | 83.8 | 47.8 | 57.3 | 60.9 | 54.8 | 48.6 | — | — | — | |
| COTRHistory Frame=8, Resolution=512×1408, Backbone=SwinB2024.12 | 46.2 | 14.9 | 53.3 | 35.2 | 50.8 | 57.3 | 35.4 | 34.1 | 33.5 | 37.1 | 39 | 45 | 84.5 | 48.7 | 57.6 | 61.1 | 51.6 | 46.7 | — | — | — | |
| LightOcc-LHistory Frame=1, Resolution=512×1408, Backbone=SwinB2024.12 | 46.15 | 14.5 | 52.5 | 34.5 | 53.9 | 57.5 | 31.7 | 36.1 | 34 | 36.3 | 40.2 | 46.2 | 84.3 | 48.3 | 57.3 | 60.3 | 51.9 | 45.4 | — | — | — | |
| DHD-LHistory Frame=1, Resolution=512×1408, Backbone=SwinB2024.12 | 45.53 | 14.1 | 53.1 | 32.4 | 52.4 | 57.4 | 30.8 | 35.2 | 33 | 33.4 | 37.9 | 45.3 | 84.6 | 48 | 57.4 | 60.3 | 52.3 | 46.2 | — | — | — | |
| ALOccBackbone=ResNet-50, Image Size=256 × 704, Visible Mask=true, CBGS=false2025.03 | 45 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 38.7 | 166.7 | 10,793 | |
| STCOccBackbone=ResNet-50, Image Size=256 × 704, Visible Mask=true2025.03 | 44.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 40 | 212.8 | 7,739 | |
| COTRBackbone=ResNet-50, Image Size=256 × 704, Visible Mask=true2025.03 | 44.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 39.5 | 1,111.1 | 10,453 | |
| GEOccBackbone=ResNet-50, Image Size=256 × 704, Visible Mask=true2025.03 | 43.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 38.6 | 450 | — | |
| FlashOcc-M3History Frame=1, Resolution=512×1408, Backbone=SwinB2024.12 | 43.52 | 13.4 | 51.1 | 27.7 | 51.6 | 56.2 | 27.3 | 30 | 29.9 | 29.8 | 37.8 | 43.5 | 83.8 | 46.6 | 56.2 | 59.6 | 50.8 | 44.7 | — | — | — | |
| PanoOccHistory Frame=3, Resolution=512×1408, Backbone=R1012024.12 | 42.13 | 11.7 | 50.5 | 29.6 | 49.4 | 55.5 | 23.3 | 33.3 | 30.6 | 31 | 34.4 | 42.6 | 83.3 | 44.2 | 54.4 | 56 | 45.9 | 40.4 | — | — | — | |
| BEVDetOccHistory Frame=1, Resolution=512×1408, Backbone=SwinB2024.12 | 42.02 | 12.2 | 49.6 | 25.1 | 52 | 54.5 | 27.9 | 28 | 28.9 | 27.2 | 36.4 | 42.2 | 82.3 | 43.3 | 54.6 | 57.9 | 48.6 | 43.6 | — | — | — | |
| StreamOccBackbone=ResNet-50, Image Size=256 × 704, Visible Mask=true2025.03 | 41.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 38.1 | 83.3 | 2,788 | |
| PanoOccBackbone=ResNet-101, Image Size=864 × 1600, Visible Mask=true2025.03 | 41.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 37.3 | 333.3 | 11,991 | |
| ALOcc-miniBackbone=ResNet-50, Image Size=256 × 704, Visible Mask=true, CBGS=false2025.03 | 40.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 35.6 | 33.1 | 2,577 | |
| CVT-OccHistory Frame=8, Resolution=928×1600, Backbone=R1012024.12 | 40.34 | 9.5 | 49.5 | 23.6 | 49.2 | 55.6 | 23.1 | 27.9 | 28.9 | 29.1 | 35 | 41 | 81.4 | 40.9 | 51.4 | 54.5 | 45.9 | 39.7 | — | — | — | |
| ProtoOccBackbone=ResNet-50, Image Size=256 × 704, Visible Mask=true2025.03 | 39.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 34.8 | 77.9 | — | |
| ViewFormerBackbone=ResNet-50, Image Size=256 × 704, Visible Mask=true, CBGS=false2025.03 | 39.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 33.3 | 102 | 3,103 | |
| OSPHistory Frame=1, Resolution=900×1600, Backbone=R1012024.12 | 39.41 | 11.2 | 47.3 | 27.1 | 47.6 | 53.7 | 23.2 | 29.4 | 29.7 | 28.4 | 32.4 | 39.9 | 79.4 | 41.4 | 50.3 | 53.2 | 40.5 | 35.4 | — | — | — | |
| GSD-OccBackbone=ResNet-50, Image Size=256 × 704, Visible Mask=true2025.03 | 39.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 35.1 | 50 | 4,759 | |
| BEVFormerBackbone=ResNet-101, Image Size=900 × 1600, Visible Mask=true2025.03 | 39.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 37.2 | 212.7 | 6,651 | |
| LightOcc-SHistory Frame=✗, Resolution=256×704, Backbone=R502024.12 | 39.24 | 12 | 45.9 | 26.3 | 47 | 50.7 | 21.7 | 27.3 | 27.9 | 27.3 | 34 | 37.6 | 81.2 | 43.4 | 52.4 | 55.2 | 42 | 35.4 | — | — | — | |
| FastOccHistory Frame=16, Resolution=640×1600, Backbone=R1012024.12 | 39.21 | 12.1 | 43.5 | 28 | 44.8 | 52.2 | 23 | 29.1 | 29.7 | 27 | 30.8 | 38.4 | 82 | 41.9 | 51.9 | 53.7 | 41 | 35.5 | — | — | — | |
| BEVDet4DBackbone=ResNet-50, Image Size=256 × 704, Visible Mask=true2025.03 | 39.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 32.8 | 1,250 | 6,053 | |
| FB-OCCBackbone=ResNet-50, Image Size=256 × 704, Visible Mask=true2025.03 | 39.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 34.3 | 97.1 | 9,632 | |
| LightOcc-THistory Frame=✗, Resolution=256×704, Backbone=R502024.12 | 37.93 | 11.7 | 45.6 | 25.4 | 43.1 | 48.7 | 21.4 | 25.6 | 26.6 | 29.2 | 33.2 | 35.1 | 80 | 41.8 | 50.4 | 53.9 | 39.4 | 34 | — | — | — | |
| ProtoOccBackbone=ResNet-50, Image Size=432 × 800, Visible Mask=true2025.03 | 37.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 32.1 | 105 | — | |
| FastOccBackbone=ResNet-101, Image Size=320 × 800, Visible Mask=true2025.03 | 37.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 93.4 | — | |
| DHD-SHistory Frame=✗, Resolution=256×704, Backbone=R502024.12 | 36.5 | 10.6 | 43.2 | 23 | 40.6 | 47.3 | 21.7 | 23.3 | 23.9 | 23.4 | 31.8 | 34.2 | 80.2 | 41.3 | 50 | 54.1 | 38.7 | 33.5 | — | — | — | |
| OPUS-LHistory Frame=8, Resolution=256×704, Backbone=R502024.12 | 36.12 | 11.9 | 43.4 | 25.5 | 41 | 47.2 | 23.8 | 25.9 | 21.3 | 29.1 | 30.1 | 35.3 | 73.1 | 41.1 | 47 | 45.7 | 37.4 | 35.3 | — | — | — | |
| OPUSBackbone=ResNet-50, Image Size=256 × 704, Visible Mask=false2025.03 | 35.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 32.6 | 75.7 | 6,735 | |
| FB-OccHistory Frame=✗, Resolution=256×704, Backbone=R502024.12 | 35.46 | 10.8 | 39.8 | 22 | 43.7 | 46.3 | 22.5 | 24.6 | 25.4 | 24.7 | 28.8 | 33.8 | 77.4 | 39 | 46.9 | 50.2 | 35.4 | 31.6 | — | — | — | |
| FlashOcc-M1History Frame=✗, Resolution=256×704, Backbone=R502024.12 | 32.08 | 6.7 | 37.7 | 10.3 | 39.6 | 44.4 | 14.9 | 13.4 | 15.8 | 15.4 | 27.4 | 31.7 | 78.8 | 38 | 48.7 | 52.5 | 37.9 | 32.2 | — | — | — | |
| BEVDetOccHistory Frame=✗, Resolution=256×704, Backbone=R502024.12 | 31.64 | 6.7 | 37 | 8.3 | 38.7 | 44.5 | 15.2 | 13.7 | 16.4 | 15.3 | 27.1 | 31 | 78.7 | 36.5 | 48.3 | 51.7 | 36.8 | 32.1 | — | — | — | |
| SparseOccBackbone=ResNet-50, Image Size=256 × 704, Visible Mask=false2025.03 | 30.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 28.2 | 56.5 | 6,883 | |
| TPVFormerHistory Frame=✗, Resolution=928×1600, Backbone=R1012024.12 | 27.83 | 7.2 | 38.9 | 13.7 | 40.8 | 45.9 | 17.2 | 20 | 18.9 | 14.3 | 26.7 | 34.2 | 55.7 | 35.5 | 37.6 | 30.7 | 19.4 | 16.8 | — | — | — | |
| OccFormerHistory Frame=✗, Resolution=256×704, Backbone=R502024.12 | 20.4 | 6.6 | 32.6 | 13.1 | 20.4 | 37.1 | 5 | 14 | 21 | 17 | 9.3 | 20.6 | 40.9 | 27 | 27.4 | 18.7 | 18.8 | 16.9 | — | — | — |