3D Semantic Occupancy Prediction on SurroundOcc-nuScenes night scenario (val)

19.67mIoU (Mean IoU)TFusionOcc

Evaluation results

Method
TFusionOcc2026.02	19.67	44.97	17.98	19.96	40.69	23.3	14.76	3.85	34.49	38.35	3.43	19.7	22.42	31.95	43.79
TFusionOcc2026.02	19.07	44.82	16.81	15.53	40.36	21.27	13.33	3.79	34.89	38.04	3.92	19.86	21.89	31.67	43.72
TFusionOcc2026.02	18.95	43.86	17.1	16.09	40.17	23.21	15.13	2.97	33.83	36.18	3.75	20.12	20.48	31.3	42.94
TFusionOcc2026.02	18.81	44.74	16.01	17.51	39.84	23.82	12.76	1.13	32.79	37.67	3.48	19.7	21.42	31.41	43.4
GaussianFusionOcc2026.02	18.66	42.78	16.09	12.27	39.82	27.66	13.68	0.07	38.25	40.1	2.07	19.64	19.82	29.55	39.61
DAOcc2026.02	18.53	42.85	17.18	15.07	39.05	25.77	14.7	0.07	32.51	33.95	4.02	19.78	22.58	30.91	40.87
GaussianFusionOcc2026.02	18.45	42.51	12.15	11.47	39.77	29.58	15.27	0.04	37.08	37.13	2.58	19.94	20.63	29.42	40.1
TFusionOcc2026.02	17.83	43.25	14.12	10.1	38.45	21.99	13.1	1.16	32.05	34.6	4.61	18.91	23.14	30.76	42.35
OccCylindrical2026.02	17.79	43.38	16.19	10.04	37.84	25.63	13.28	0.23	32.93	39.59	3.89	17.89	21.61	26.99	38.47
OccFusion2026.02	16.61	41.01	15.7	16.26	38.09	22.18	13.24	0.08	25.92	33.15	1.57	16.08	21.09	24.51	37.83
GaussianOcc3D2026.01	15.9	—	13.9	14.8	35.9	15.1	14.5	150	23.4	34.7	1.6	15.3	20.4	23.2	39.3
OccFusion2026.02	15.87	40.87	13.28	17.53	36.42	16.16	11.37	1.42	25.71	32.64	0.63	16.06	20.87	24.52	37.27
OccFusion2026.01	15.2	—	12.7	13.5	35.8	15.3	13.1	80	23.7	32.4	0.9	14.2	20.5	23.5	37.1
Co-Occ2026.02	14.6	35.6	8.4	16.4	37.2	13.8	10.9	0.4	24.3	36.4	2.2	14.6	17	19.9	31.7
Inverse++2026.02	10.93	23.7	8.87	10.19	32.62	11.77	7.46	0.72	22.2	32.95	2.15	13.01	9.79	8.61	14.48
SurroundOcc2026.02	10.8	24.38	10.55	14.6	31.05	8.26	5.37	0.58	18.75	30.72	2.74	12.39	11.53	10.52	15.77
SurroundOcc2026.01	10.8	—	10.55	14.6	31.05	8.26	5.37	58	18.75	30.72	2.74	12.39	11.53	10.52	15.77
GaussianFormer2-2562026.02	10.14	21.19	5.25	9.29	29.33	13.65	5.8	0.9	20.22	31.8	1.94	14.83	10.48	5.96	12.72
InverseMatrixVT3D2026.02	9.99	22.48	10.4	12.03	29.94	9.92	4.88	0.91	17.79	29.1	2.37	10.8	9.4	8.68	13.57
OccFusion2026.01	9.99	—	10.4	12.03	29.94	9.92	4.88	91	17.79	29.1	2.37	10.8	9.4	8.68	13.57
Co-Occ2026.02	9.4	18.9	4.5	9.3	29.5	8.4	3.5	0	15.1	29.4	0.6	12.4	11.5	10.7	15.5
GaussianFormer2026.02	9.07	20.3	6.11	8.7	25.75	10.44	2.85	0.55	17.26	30.65	2.95	12.53	9.94	6.65	10.71