3D Occupancy Prediction on SurroundOcc benchmark leaderboard · SOTA2 Research

3D Occupancy Prediction on SurroundOcc

30.4mIoUHiPR

Evaluation Results

Method	Links
HiPR2026.05		30.4	29.9	23.1	34.8	38.4	23.4	29.7	28.8	21.9	22.4	32	43.8	28.6	30.6	29.9	30.6	39.4	—
OccCylindrical2026.05		28.7	26.2	22.1	31.5	36.8	18	27.8	29.9	23.9	20.6	28.3	43	23.1	28	27.8	30.8	41	—
HiPR-mini2026.05		28.6	27.9	21.7	33.2	36.8	22.8	27.7	27	19.9	20.2	30	41.4	26.8	28.7	27.7	28.3	37.5	—
OccFusion2026.05		28.3	28.3	21	35.1	36.8	20.3	26.2	25.9	19.2	21.3	30.6	40.1	23.8	25.6	27.6	29.8	40.8	—
OccFusion2026.05		27.6	25.2	19.9	34.8	36.2	20	23.1	25.3	17.5	22.7	30.1	39.5	23.3	25.7	27.6	29.5	40.6	—
Co-Occ2026.05		27.1	28.1	16.1	34	37.2	17	21.6	20.8	15.9	21.9	28.7	42.3	25.4	29.1	28.6	28.2	38	—
M-CONet2026.05		24.7	24.8	13	31.6	34.8	14.6	18	20	14.7	20	26.6	39.2	22.8	26.1	26	26	37.1	—
LightOcc2024.12		23.68	24.65	15.37	31.02	33.48	14.27	19.42	17.17	15.21	16.81	25.63	42.47	26.31	29.15	27.35	15.85	24.74	34.01
GaussianWorld2024.12		22.13	21.38	14.12	27.71	31.84	13.66	17.43	13.66	11.46	15.09	23.94	42.98	24.86	28.84	26.74	15.69	24.74	33.4
LowRankOcc2024.12		21.51	22.49	12.45	30.32	33.63	10.35	14.31	13.67	12.4	15.09	25.99	39.52	23.21	26.67	25.19	16.23	22.66	32.78
GaussianFormer-22024.12		20.82	21.39	13.44	28.49	30.82	10.92	15.84	13.55	10.53	14.04	22.92	40.61	24.36	26.08	24.27	13.83	21.98	31.74
GaussianFormer22026.05		20.8	21.4	13.4	28.5	30.8	10.9	15.8	13.6	10.5	14	22.9	40.6	24.4	26.1	24.3	13.8	22	—
SurroundOcc2026.05		20.3	20.6	11.7	28.1	30.9	10.7	15.1	14.1	12.1	14.4	22.3	37.3	23.7	24.5	22.8	14.9	21.9	—
SurroundOcc2024.12		20.3	20.59	11.68	28.06	30.86	10.7	15.14	14.09	12.06	14.38	22.26	37.29	23.7	24.49	22.77	14.89	21.86	31.49
GaussianFormer2024.12		19.1	19.52	11.26	26.11	29.78	10.47	13.83	12.58	8.67	12.74	21.57	39.63	23.28	24.46	22.99	9.59	19.12	29.83
OccFormer2024.12		19.03	18.65	10.41	23.92	30.29	10.31	14.19	13.59	10.13	12.49	20.77	38.78	19.79	24.19	22.21	13.48	21.35	31.39
GaussianFormer2026.05		17.3	19.5	11.3	26.1	29.8	10.5	13.8	12.6	8.7	12.7	21.6	39.6	23.3	24.5	23	9.6	19.1	—
TPVFormer2026.05		17.1	16	5.3	23.9	27.3	9.8	8.7	7.1	5.2	11	19.2	38.9	21.3	24.3	23.2	11.7	20.8	—
TPVFormer2024.12		17.1	15.96	5.31	23.86	27.32	9.79	8.74	7.09	5.2	10.97	19.22	38.87	21.25	24.26	23.15	11.73	20.81	30.86
BEVFormer2026.05		16.8	14.2	6.6	23.5	28.3	8.7	10.8	6.6	4.1	11.2	17.8	37.3	18	22.9	22.2	13.8	22.2	—
BEVFormer2024.12		16.75	14.22	6.58	23.46	28.28	8.66	10.77	6.64	4.05	11.2	17.78	37.28	18	22.88	22.17	13.8	22.21	30.5
Atlas2024.12		15	10.64	5.68	19.66	24.94	8.9	8.84	6.47	3.28	10.42	16.21	34.86	15.46	21.89	20.95	11.21	20.54	28.66
MonoScene2024.12		7.31	4.03	0.35	8	8.04	2.9	0.28	1.16	0.67	4.01	4.35	27.72	5.2	15.13	11.29	9.03	14.86	23.96