3D Semantic Occupancy Prediction on nuScenes (val)
44.3IoUGau-Occ
Evaluation results
| Method | Links | |||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Gau-OccNoise Condition=Clean2026.06 | 44.3 | 32.7 | — | — | — | 33.1 | 16.5 | 41.1 | 43.9 | 21.9 | 26.6 | 31.1 | 23.1 | 24.5 | 34 | 49 | 26.3 | 32.9 | 33.4 | 39.3 | 45.7 | |
| GaussianWorldNoise Condition=Clean2026.06 | 33.4 | 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 | |
| GraphBEV++Noise Condition=Clean, Architecture Style=Query2026.06 | 32.47 | 21.9 | — | — | — | 21.66 | 12.83 | 27.7 | 31.75 | 11.39 | 17.15 | 13.89 | 11.16 | 13.8 | 22.74 | 41.9 | 24.98 | 27.12 | 25.84 | 13.48 | 22.23 | |
| GaussianFormer-2Noise Condition=Clean2026.06 | 31.74 | 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 | |
| SurroundOccNoise Condition=Clean2026.06 | 31.49 | 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 | |
| OccFormerNoise Condition=Clean2026.06 | 31.39 | 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 | |
| GaussianFormer-TNoise Condition=Clean2026.06 | 31.34 | 20.42 | — | — | — | 20.82 | 12.07 | 26.89 | 30.94 | 10.52 | 16.48 | 13.15 | 10.46 | 12.9 | 21.79 | 41.13 | 24.22 | 26.29 | 24.89 | 12.8 | 21.45 | |
| QuadricFormerNoise Condition=Clean2026.06 | 31.22 | 20.12 | — | — | — | 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 | |
| BEVFormerNoise Condition=Clean2026.06 | 30.5 | 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 | |
| GaussianFormerNoise Condition=Clean2026.06 | 29.83 | 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 | |
| GraphBEV++Noise Condition=Noisy, Architecture Style=Query2026.06 | 29.41 | 19.37 | — | — | — | 18.74 | 10.43 | 24.62 | 28.39 | 8.71 | 13.92 | 11.28 | 8.74 | 10.61 | 19.58 | 38.71 | 21.56 | 24.03 | 22.77 | 10.92 | 19.31 | |
| AtlasNoise Condition=Clean2026.06 | 28.66 | 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 | |
| GaussianFormer-TNoise Condition=Noisy2026.06 | 27.86 | 17.63 | — | — | — | 17.42 | 8.38 | 22.91 | 27.48 | 7.56 | 12.03 | 9.81 | 6.87 | 8.72 | 18.02 | 37.18 | 20.44 | 22.67 | 21.18 | 9.22 | 17.74 | |
| MonoSceneNoise Condition=Clean2026.06 | 23.96 | 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 | |
| TPVFormerNoise Condition=Clean2026.06 | 11.51 | 11.66 | — | — | — | 16.14 | 7.17 | 22.63 | 17.13 | 8.83 | 11.39 | 10.46 | 8.23 | 9.43 | 17.02 | 8.07 | 13.64 | 13.85 | 10.34 | 4.9 | 7.37 | |
| InverseMatrixVT3DModality=C2026.02 | — | — | 447 | 4.41 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OccCylindricalModality=C+L2026.02 | — | — | 398 | 10.63 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OccFusion(C+L)Modality=C+L2026.02 | — | — | 591 | 5.56 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OccFusion(C+L+R)Modality=C+L+R2026.02 | — | — | 601 | 5.78 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OccFusion(C+R)Modality=C+R2026.02 | — | — | 588 | 5.56 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SurroundOccModality=C2026.02 | — | — | 472 | 5.98 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| TFusionOcc (T-P-25600)Modality=C+L2026.02 | — | — | 385.49 | 4.73 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| TFusionOcc (T-SQ-12800)Modality=C+L2026.02 | — | — | 278.46 | 3.68 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| TFusionOcc (T-SQ-25600)Modality=C+L2026.02 | — | — | 388.05 | 4.13 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| TFusionOcc (T-SQ-IW-12800)Modality=C+L2026.02 | — | — | 281.47 | 3.88 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| TFusionOcc (T-SQ-IW-25600)Modality=C+L2026.02 | — | — | 391.06 | 4.04 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — |