3D semantic occupancy prediction on nuScenes
20.3mIoUSurroundOcc
Evaluation results
| Method | Links | |||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| SurroundOcc2026.03 | 20.3 | 31.49 | 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 | — | — | — | |
| QuadricFormer2026.03 | 20.12 | 31.22 | 19.58 | 13.11 | 27.27 | 29.64 | 11.25 | 16.26 | 12.65 | 9.15 | 12.51 | 21.24 | 40.2 | 24.34 | 25.69 | 24.24 | 12.95 | 21.86 | — | — | — | |
| DriveTok2026.03 | 20.06 | 33.32 | 20.04 | 9.81 | 26.11 | 27.87 | 11.14 | 13.44 | 9.52 | 8.65 | 12.67 | 20.44 | 41.79 | 25.31 | 27.68 | 26.37 | 16.59 | 23.57 | — | — | — | |
| GaussianFormer-22026.03 | 20.02 | 30.56 | 20.15 | 12.99 | 27.61 | 30.23 | 11.19 | 15.31 | 12.64 | 9.63 | 13.31 | 22.26 | 39.68 | 23.47 | 25.62 | 23.2 | 12.25 | 20.73 | — | — | — | |
| HilDADimensionality=3D, Evaluation Protocol=Frozen Pre-trained Backbone, Metrics=Frame-averaged2026.06 | 20 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 14.5 | 20.2 | 30.4 | |
| GaussianFormer2026.03 | 19.1 | 29.83 | 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 | — | — | — | |
| OccFormer2026.03 | 19.03 | 31.39 | 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 | — | — | — | |
| HilDA†Dimensionality=3D, Evaluation Protocol=Frozen Pre-trained Backbone, Metrics=Frame-averaged2026.06 | 19 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 13.3 | 19 | 30.2 | |
| HilDADimensionality=4D, Evaluation Protocol=Frozen Pre-trained Backbone, Metrics=Frame-averaged2026.06 | 18.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 11.4 | 20.2 | 30.5 | |
| HilDA†Dimensionality=4D, Evaluation Protocol=Frozen Pre-trained Backbone, Metrics=Frame-averaged2026.06 | 17.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 10.1 | 18.5 | 30.4 | |
| TPVFormer2026.03 | 17.1 | 30.86 | 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 | — | — | — | |
| BEVFormer2026.03 | 16.75 | 30.5 | 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 | — | — | — | |
| CDDimensionality=3D, Evaluation Protocol=Frozen Pre-trained Backbone, Metrics=Frame-averaged2026.06 | 16.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 10 | 16.5 | 29.4 | |
| ScaLRDimensionality=3D, Evaluation Protocol=Frozen Pre-trained Backbone, Metrics=Frame-averaged2026.06 | 16.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 9.5 | 16.4 | 29.4 | |
| CDDimensionality=4D, Evaluation Protocol=Frozen Pre-trained Backbone, Metrics=Frame-averaged2026.06 | 15.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 8 | 16.5 | 29.6 | |
| Atlas2026.03 | 15 | 28.66 | 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 | — | — | — | |
| ScaLRDimensionality=4D, Evaluation Protocol=Frozen Pre-trained Backbone, Metrics=Frame-averaged2026.06 | 14.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 7.1 | 15.9 | 29.5 | |
| SFDimensionality=3D, Evaluation Protocol=Frozen Pre-trained Backbone, Metrics=Frame-averaged2026.06 | 12.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 5.2 | 12.1 | 25.7 | |
| SFDimensionality=4D, Evaluation Protocol=Frozen Pre-trained Backbone, Metrics=Frame-averaged2026.06 | 11.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 4.9 | 12.2 | 25.6 | |
| RandomDimensionality=3D, Evaluation Protocol=Frozen Pre-trained Backbone, Metrics=Frame-averaged2026.06 | 10.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 3.7 | 10.6 | 24.4 | |
| RandomDimensionality=4D, Evaluation Protocol=Frozen Pre-trained Backbone, Metrics=Frame-averaged2026.06 | 10.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 3.1 | 10.7 | 24.4 | |
| MonoScene2026.03 | 7.31 | 23.96 | 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 | — | — | — |