3D Semantic Occupancy Prediction on Occ3D-nuScenes v1.0 (val)
83mIoUAutoOcc
Evaluation results
| Method | Links | ||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| AutoOcc2025.09 | 83 | 12.7 | 10.5 | 7.8 | 20.4 | 5.8 | 17.6 | 18.5 | 24.3 | — | 12.9 | 55.5 | 24.2 | 27.1 | — | 36.6 | 4.2 | 35.6 | — | — | — | — | |
| GaussianFlowOccFPS=10.22025.09 | 46.9 | 6.8 | 9.7 | 19 | 17.2 | 4.2 | 11.8 | 9.3 | 10.3 | — | 12.3 | 61 | 31.2 | 34.8 | — | 12.4 | 1.8 | 14.7 | — | — | — | — | |
| OccNeRFFPS=5.42025.09 | 46.4 | 0.7 | 1.8 | 6.6 | 6.6 | 3.7 | 0.3 | 2.9 | 3.2 | — | 6.6 | 52.8 | 24 | 25 | — | 9.7 | 2.9 | 18.6 | — | — | — | — | |
| BEVDet4D + COTRImage Backbone=Swin-B2026.02 | 46.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 74.9 | — | — | — | |
| BEVDet4D + COTRImage Backbone=Swin-B2026.06 | 46.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 74.9 | — | — | — | |
| GaussTRFPS=0.32025.09 | 44.5 | 6.5 | 8.5 | 21.8 | 24.3 | 6.3 | 15.5 | 7.9 | 1.9 | — | 17.2 | 37 | 17.2 | 7.2 | — | 10 | 6.1 | 21.2 | — | — | — | — | |
| BEVDet4D + COTRImage Backbone=ResNet-502026.02 | 44.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 75 | — | — | — | |
| BEVDet4D + COTRImage Backbone=ResNet-502026.06 | 44.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 75 | — | — | — | |
| SelfOccFPS=7.42025.09 | 44.1 | 0.2 | 0.5 | 6.7 | 10.4 | 0 | 0.1 | 2.1 | 0 | — | 7.7 | 56.1 | 26.9 | 25.7 | — | 4.6 | 0 | 13.4 | — | — | — | — | |
| SGEImage Backbone=VoVNetV2-992026.06 | 43.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 71.7 | — | — | — | |
| GaussianOccFPS=5.42025.09 | 42.9 | 1.8 | 5.8 | 14.6 | 13.6 | 1.3 | 2.8 | 8 | 9.8 | — | 9.6 | 44.6 | 20.1 | 17.6 | — | 10.3 | 0.6 | 8.6 | — | — | — | — | |
| LaGS-2sImage Backbone=VoVNetV2-992026.02 | 40.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 67.3 | — | — | — | |
| LaGS-2sImage Backbone=VoVNetV2-992026.06 | 40.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 67.3 | — | — | — | |
| BEVDet4D + COTRImage Backbone=ResNet-50, Note=Restricted baseline without CFSG2026.06 | 40.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 71.7 | — | — | — | |
| BEVDet4DImage Backbone=ResNet-502026.02 | 39.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 73.8 | — | — | — | |
| BEVDet4DImage Backbone=ResNet-502026.06 | 39.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 73.8 | — | — | — | |
| EasyOccFPS=5.4, Supervision=Easy3D-Labels2025.09 | 38.9 | 1.9 | 6.7 | 15.1 | 21.7 | 2.7 | 8.1 | 15.3 | 11.1 | — | 12.8 | 55.8 | 27.9 | 22.1 | — | 17.3 | 1.4 | 16.1 | — | — | — | — | |
| GaussianOcc + Easy3D-LabelsFPS=5.4, Supervision=Easy3D-Labels, 2D semantic loss=false2025.09 | 38.8 | 1.7 | 5.9 | 16.2 | 22.3 | 2.3 | 8.4 | 15.7 | 10.2 | — | 13.4 | 55.3 | 27.4 | 23.4 | — | 17 | 1 | 16 | — | — | — | — | |
| OccNeRF + Easy3D-LabelsFPS=5.4, Supervision=Easy3D-Labels, 2D semantic loss=true2025.09 | 38.5 | 1.9 | 8.2 | 16.7 | 22.1 | 1 | 7.7 | 14.7 | 12.8 | — | 13.8 | 55.9 | 28 | 22.7 | — | 17.2 | 1 | 15.8 | — | — | — | — | |
| OccFormerImage Backbone=ResNet-502026.02 | 37.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 70.1 | — | — | — | |
| OccFormerImage Backbone=ResNet-502026.06 | 37.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 70.1 | — | — | — | |
| SurroundOccImage Backbone=ResNet-1012026.02 | 34.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 65.5 | — | — | — | |
| BEVDet4D + COTR*Image Backbone=ResNet-50, restricted_baseline=true2026.02 | 34.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 66.3 | — | — | — | |
| SurroundOccImage Backbone=ResNet-1012026.06 | 34.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 65.5 | — | — | — | |
| SelfOcc + Easy3D-LabelsFPS=7.4, Supervision=Easy3D-Labels2025.09 | 34.5 | 1.7 | 5.4 | 14.5 | 22.2 | 2.6 | 6.4 | 15.4 | 8.9 | — | 12.8 | 55 | 26.8 | 21.6 | — | 9.3 | 1 | 11.3 | — | — | — | — | |
| TPVFormerImage Backbone=ResNet-502026.02 | 34.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 66.8 | — | — | — | |
| TPVFormerImage Backbone=ResNet-502026.06 | 34.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 66.8 | — | — | — | |
| TrackOcc‡Image Backbone=ResNet-50, official_code_trained=true2026.02 | 32.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 63.7 | — | — | — | |
| TrackOccImage Backbone=ResNet-502026.06 | 32.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 63.7 | — | — | — | |
| DistillNeRFFPS=2.82025.09 | 29.1 | 1.4 | 2.1 | 10.2 | 10.1 | 2.6 | 2 | 5.5 | 4.6 | — | 7.9 | 43 | 16.9 | 15 | — | 15.1 | 1.4 | 14.1 | — | — | — | — | |
| CTF-OccInput=C2025.03 | 28.53 | 39.33 | 20.56 | 38.29 | 42.24 | 16.93 | 24.52 | 22.72 | 21.05 | 22.98 | 31.11 | 53.33 | 37.98 | 33.23 | 20.79 | 18 | — | — | — | — | — | — | |
| TT-OccLiDARInput=C&L2025.03 | 27.41 | 32.44 | 16.08 | 16.88 | 22.56 | 28.32 | 21.06 | 14.34 | 20.02 | 10.33 | 14.47 | 52.6 | 31.4 | 37.21 | 48.02 | 45.37 | — | — | — | — | — | — | |
| BEVFormerInput=C2025.03 | 26.88 | 37.83 | 17.87 | 40.44 | 42.43 | 7.36 | 23.88 | 21.81 | 20.98 | 22.38 | 30.7 | 55.35 | 36 | 28.06 | 20.04 | 17.69 | — | — | — | — | — | — | |
| OccFlowNetInput=C&L2025.03 | 26.14 | 27.5 | 26 | 34 | 32 | 20.4 | 25.9 | 18.6 | 20.2 | 26 | 28.7 | 62 | 37.8 | 39.5 | 29 | 26.8 | — | — | — | — | — | — | |
| RenderOccInput=C2025.03 | 23.93 | 27.56 | 14.36 | 19.91 | 20.56 | 11.96 | 12.42 | 12.14 | 14.34 | 20.81 | 18.94 | 68.85 | 42.01 | 43.94 | 17.36 | 22.61 | — | — | — | — | — | — | |
| DeGOsupervision=weakly supervised2026.05 | 18.05 | 6.63 | 10.68 | 18.15 | 17.55 | 3.83 | 12.88 | 9.56 | 10.8 | — | 12.36 | 66.19 | 34.71 | 37.69 | — | 12.98 | 0.95 | 15.71 | 45.38 | 10.34 | 33.46 | 11.04 | |
| TT-OccCameraInput=C2025.03 | 16.7 | 21.51 | 10.46 | 10.7 | 14.72 | 11.89 | 12.33 | 9.71 | 12.2 | 4.37 | 7.92 | 48.27 | 23.7 | 28.31 | 14.13 | 20.24 | — | — | — | — | — | — | |
| TT-OccFPS=0.72025.09 | 16.7 | 21.5 | 10.5 | 10.7 | 14.7 | 11.9 | 12.3 | 9.7 | 12.2 | — | 7.9 | 48.3 | 23.7 | 28.3 | — | 20.2 | 4.4 | 14.1 | — | — | — | — | |
| GaussianFlowreproduced_results=true, supervision=weakly supervised2026.05 | 16.27 | 6.89 | 9.81 | 17.41 | 15.93 | 4.01 | 10.7 | 8.68 | 9.84 | — | 11.87 | 59.17 | 29.94 | 32.2 | — | 12.36 | 0.79 | 14.41 | 40.39 | 9.59 | 29.62 | 9.73 | |
| VEON-LiDARInput=C&L2025.03 | 15.14 | 10.4 | 6.2 | 17.7 | 12.7 | 8.5 | 7.6 | 6.5 | 5.5 | 8.2 | 11.8 | 54.5 | 25.5 | 30.2 | 25.4 | 25.4 | — | — | — | — | — | — | |
| VEONsupervision=weakly supervised2026.05 | 13.95 | 4.8 | 2.7 | 14.7 | 10.9 | 11 | 3.8 | 4.7 | 4 | — | 9.6 | 46.5 | 21.1 | 22.1 | — | 23.7 | 5.3 | 24.8 | — | 7.15 | 27.64 | 3.73 | |
| GaussTRsupervision=weakly supervised2026.05 | 13.26 | 2.09 | 5.22 | 14.07 | 20.43 | 5.7 | 7.08 | 5.12 | 3.93 | — | 13.36 | 39.44 | 15.68 | 22.89 | — | 21.87 | 0.92 | 21.17 | 45.19 | 7.79 | 24.21 | 5.81 | |
| LangOccsupervision=weakly supervised2026.05 | 12.04 | 2.7 | 7.2 | 5.8 | 13.9 | 0.5 | 10.8 | 6.4 | 8.7 | — | 11 | 42.1 | 12.5 | 27.2 | — | 14.5 | 3.2 | 14.1 | — | 7.02 | 22.08 | 8.13 | |
| LangOccInput=C2025.03 | 11.84 | 3.1 | 9 | 6.3 | 14.2 | 0.4 | 10.8 | 6.2 | 9 | 3.8 | 10.7 | 43.7 | 9.5 | 26.4 | 19.6 | 26.4 | — | — | — | — | — | — | |
| GaussianTRInput=C2025.03 | 11.7 | 2.09 | 5.22 | 14.07 | 20.43 | 5.7 | 7.08 | 5.12 | 3.93 | 0.92 | 13.36 | 39.44 | 15.68 | 22.89 | 21.17 | 21.87 | — | — | — | — | — | — | |
| GaussianOccInput=C2025.03 | 11.26 | 1.79 | 5.82 | 14.58 | 13.55 | 1.3 | 2.82 | 7.95 | 9.76 | 0.56 | 9.61 | 44.59 | 20.1 | 17.58 | 8.61 | 10.29 | — | — | — | — | — | — | |
| GaussianOccsupervision=weakly supervised2026.05 | 11.26 | 1.79 | 5.82 | 14.58 | 13.55 | 1.3 | 2.82 | 7.95 | 9.76 | — | 9.61 | 44.59 | 20.1 | 17.58 | — | 10.29 | 0.56 | 8.61 | — | 6.77 | 22.85 | 5.53 | |
| OccNeRFInput=C2025.03 | 10.81 | 0.83 | 0.82 | 5.13 | 12.49 | 3.5 | 0.23 | 3.1 | 1.84 | 0.52 | 3.9 | 52.62 | 20.81 | 24.75 | 18.45 | 13.19 | — | — | — | — | — | — | |
| OccNeRFsupervision=weakly supervised2026.05 | 10.81 | 0.83 | 0.82 | 5.13 | 12.49 | 3.5 | 0.23 | 3.1 | 1.84 | — | 3.9 | 52.62 | 20.81 | 24.75 | — | 13.19 | 0.52 | 18.45 | 22.81 | 3.24 | 25.96 | 1.38 | |
| SelfOccInput=C2025.03 | 10.54 | 0.15 | 0.66 | 5.46 | 12.54 | 0 | 0.8 | 2.1 | 0 | 0 | 8.25 | 55.49 | 26.3 | 26.54 | 14.22 | 5.6 | — | — | — | — | — | — | |
| SelfOccsupervision=weakly supervised2026.05 | 10.54 | 0.15 | 0.66 | 5.46 | 12.54 | 0 | 0.8 | 2.1 | 0 | — | 8.25 | 55.49 | 26.3 | 26.54 | — | 5.6 | 0 | 14.22 | 45.01 | 3 | 25.63 | 1.19 | |
| DistillNeRFsupervision=weakly supervised2026.05 | 10.12 | 1.35 | 2.08 | 10.21 | 10.09 | 2.56 | 1.98 | 5.54 | 4.62 | — | 7.9 | 43.02 | 16.86 | 15.02 | — | 15.06 | 1.43 | 14.06 | 29.11 | 4.78 | 20.8 | 3.2 | |
| DistillNeRFInput=C2025.03 | 8.93 | 1.35 | 2.08 | 10.21 | 10.09 | 2.56 | 1.98 | 5.54 | 4.62 | 1.43 | 7.9 | 43.02 | 16.86 | 15.02 | 14.06 | 15.06 | — | — | — | — | — | — | |
| SimpleOccInput=C2025.03 | 7.99 | 0.67 | 1.18 | 3.21 | 7.63 | 1.02 | 0.26 | 1.8 | 0.26 | 1.07 | 2.81 | 40.44 | 18.3 | 17.01 | 13.42 | 10.84 | — | — | — | — | — | — |