3D semantic occupancy prediction on SSCBench-KITTI-360 (test)

53.58Overall IoUSSCNet

Evaluation Results

Method
SSCNet2024.12	53.58	16.95	31.95	0	0.17	10.29	0.58	0.07	65.7	17.33	41.24	3.22	44.41	6.77	43.72	28.87	0.78	0.75	8.6	0.67	—
ProOOD (+VoxDet)2026.04	48.23	20.27	28.89	3.77	7.23	18.83	6.49	5.83	62.31	16.23	40.08	5.36	43.75	9.29	38.66	22.51	17.28	19.42	10.67	8.25	11.52
VoxDet2026.04	48.22	19.97	28.94	3.88	5.23	16.2	6.58	6.15	62.02	16.27	39.69	5.34	43.36	9.1	38.73	22.79	17.22	19.74	10.27	7.99	10.92
LMSCNet2024.12	47.53	13.65	20.91	0	0	0.26	0	0	62.95	13.51	33.51	0.2	43.67	0.33	40.01	26.8	0	0	3.63	0	—
ProOOD (+SGN)2026.04	46.62	17.99	27.23	2.75	4.23	12.06	5.76	4.83	60.07	14.02	36.57	5.03	40.92	7.13	36.96	22.84	14.15	15.47	8.82	4.93	8.35
SGN2026.04	46.22	17.71	28.2	2.09	3.02	11.95	3.68	4.2	59.49	14.5	36.53	4.24	39.79	7.14	36.61	23.1	14.86	16.14	8.24	4.95	8.17
Symphonies2026.04	44.12	18.58	30.02	1.85	5.9	25.07	12.06	8.2	54.94	13.83	32.76	6.93	35.11	8.58	38.33	11.52	14.01	9.57	14.44	11.28	10.84
GraphGSOcc2025.06	40.92	15.58	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—
OccFormer2024.12	40.27	13.81	22.58	0.66	0.26	9.89	3.82	2.77	54.3	13.44	31.53	3.55	36.42	4.8	31	19.51	7.77	8.51	6.95	4.6	—
OccFormer2025.06	40.27	13.87	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—
OccFormer2026.04	40.27	13.81	22.58	0.66	0.26	9.89	3.82	2.77	54.3	13.44	31.53	3.55	36.42	4.8	31	19.51	7.77	8.51	6.95	4.6	4.92
TPVFormer2024.12	40.22	13.64	21.56	1.09	1.37	8.06	2.57	2.38	52.99	11.99	31.07	3.78	34.83	4.8	30.08	17.51	7.46	5.86	5.48	2.7	—
TPVFormer2025.06	40.22	13.64	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—
TPVFormer2026.04	40.22	13.64	21.56	1.09	1.37	8.06	2.57	2.38	52.99	11.99	31.07	3.78	34.83	4.8	30.08	17.52	7.46	5.86	5.48	2.7	4.13
Voxformer2024.12	38.76	11.91	17.84	1.16	0.89	4.56	2.06	1.63	47.01	9.67	27.21	2.89	31.18	4.97	28.99	14.69	6.51	6.92	3.79	2.43	—
VoxFormer2026.04	38.76	11.91	17.84	1.16	0.89	4.56	2.06	1.63	47.01	9.67	27.21	2.89	31.18	4.97	28.99	14.69	6.51	6.92	3.79	2.43	3.44
GaussianFormer-22024.12	38.37	13.9	21.08	2.55	4.21	12.41	5.73	1.59	54.12	11.04	32.31	3.34	32.01	4.98	28.94	17.33	3.57	5.48	5.88	3.54	—
GaussianFormer-22025.06	38.37	13.9	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—
MonoScene2024.12	37.87	12.31	19.34	0.43	0.58	8.02	2.03	0.86	48.35	11.38	28.13	3.22	32.89	3.53	26.15	16.75	6.92	5.67	4.2	3.09	—
MonoScene2025.06	37.87	12.31	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—
MonoScene2026.04	37.87	12.31	19.34	0.43	0.58	8.02	2.03	0.86	48.35	11.38	28.13	3.32	32.89	3.53	26.15	16.75	6.92	5.67	4.2	3.09	3.61
GaussianFormer2024.12	35.38	12.92	18.93	1.02	4.62	18.07	7.59	3.35	45.47	10.89	25.03	5.32	28.44	5.68	29.54	8.62	2.99	2.32	9.51	5.14	—
GaussianFormer2025.06	35.38	12.92	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—
Voxformer2025.06	18.76	11.91	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—