3D Semantic Occupancy Prediction on SurroundOcc-nuScenes rainy scenario (val)
30.82mIoUTFusionOcc
Evaluation results
| Method | Links | ||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| TFusionOccBackbone=Res-50, Modality=C+L, Primitive Type=T-SQ-IW-256002026.02 | 30.82 | 46.25 | 30.38 | 21.7 | 38.23 | 39.28 | 20.29 | 19.78 | 26.75 | 25.35 | 24.88 | 29.05 | 42.35 | 28.14 | 35.91 | 26.52 | 36.49 | 48.01 | |
| TFusionOccBackbone=Res-50, Modality=C+L, Primitive Type=T-SQ-IW-128002026.02 | 30.74 | 45.81 | 30.54 | 21.85 | 37.99 | 39.11 | 20.43 | 21.56 | 26.44 | 24.82 | 23.39 | 28.74 | 41.99 | 28.68 | 35.7 | 26.86 | 36.08 | 47.63 | |
| TFusionOccBackbone=Res-50, Modality=C+L, Primitive Type=T-SQ-256002026.02 | 30.38 | 45.4 | 29.18 | 22.52 | 36.87 | 38.61 | 19.41 | 22.19 | 26.98 | 24.84 | 24.78 | 28.7 | 41.21 | 27.39 | 34.74 | 25.57 | 35.69 | 47.44 | |
| TFusionOccBackbone=Res-50, Modality=C+L, Primitive Type=T-SQ-128002026.02 | 30.28 | 45.79 | 29.32 | 22.06 | 35.67 | 38.47 | 18.43 | 23.29 | 26.19 | 24.65 | 23.34 | 28.4 | 41.79 | 28.4 | 34.99 | 26.16 | 35.75 | 47.54 | |
| GaussianFusionOccBackbone=R101-DCN, Modality=C+L+R2026.02 | 29.86 | 44.36 | 28.4 | 19.88 | 38.87 | 39.33 | 20.61 | 26.05 | 25.66 | 17.97 | 26.07 | 31.02 | 41.7 | 24.94 | 35.27 | 24.08 | 33.9 | 44 | |
| DAOccBackbone=Res-50, Modality=C+L2026.02 | 29.65 | 44.51 | 28.5 | 19.63 | 38.01 | 38.98 | 21.42 | 20.19 | 24.63 | 21.52 | 23.6 | 31.12 | 40.56 | 26.68 | 35.05 | 24.94 | 34.29 | 45.28 | |
| TFusionOccBackbone=Res-50, Modality=C+L, Primitive Type=T-P-256002026.02 | 29.22 | 44.77 | 27.86 | 21.11 | 36.24 | 38.33 | 17.79 | 18.33 | 25.25 | 23.53 | 25.5 | 28.59 | 40.27 | 24.95 | 33.54 | 24.82 | 34.9 | 46.57 | |
| GaussianFusionOccBackbone=R101-DCN, Modality=C+L2026.02 | 29.19 | 44.28 | 28.1 | 19.84 | 36.28 | 38.9 | 18.11 | 21.13 | 26.14 | 17.95 | 25.79 | 29.92 | 41.72 | 27.35 | 34.99 | 22.85 | 33.84 | 44.1 | |
| OccCylindricalBackbone=Res-50, Modality=C+L2026.02 | 28.07 | 44.08 | 24.5 | 22.66 | 33.47 | 36.79 | 16.96 | 23.63 | 23.79 | 23.49 | 22.7 | 28.14 | 41.67 | 22.32 | 33.55 | 21.44 | 30.58 | 43.45 | |
| OccFusionBackbone=R101-DCN, Modality=C+L+R2026.02 | 27.39 | 42.67 | 27.82 | 21.1 | 36 | 37.1 | 17.23 | 21.67 | 20.34 | 17.46 | 20.93 | 28.57 | 38.99 | 24.72 | 31.96 | 21.26 | 29.64 | 43.53 | |
| GaussianOcc3DModality=C&L2026.01 | 27.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GaussianOcc3DModality=C&L2026.01 | 27.1 | — | 25.8 | 19.6 | 34.1 | 36.4 | 18.1 | 21.3 | 19.9 | 17.3 | 21.6 | 29.5 | 38.2 | 24.1 | 30.9 | 20 | 29.4 | 45.2 | |
| OccFusionBackbone=R101-DCN, Modality=C+L2026.02 | 26.68 | 42.67 | 20.91 | 18.39 | 35.26 | 36.19 | 17.69 | 19.05 | 19.4 | 17.08 | 23.86 | 28.86 | 38.28 | 26.37 | 31.44 | 21.35 | 29.48 | 43.22 | |
| Co-OccBackbone=R101, Modality=C+L2026.02 | 26.6 | 40.3 | 26.6 | 19.1 | 37.6 | 37.2 | 15.9 | 20.3 | 16.3 | 12.3 | 23.3 | 27 | 41 | 22.8 | 35.2 | 24.6 | 27.8 | 39.3 | |
| OccFusionModality=C&L2026.01 | 26.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OccFusionModality=C&L2026.01 | 26.5 | — | 24.9 | 19.1 | 34.2 | 36 | 17 | 21 | 18.8 | 17.4 | 21.8 | 28.7 | 37.8 | 24.3 | 30.8 | 20.3 | 28.9 | 43.1 | |
| GaussianFormer3DModality=C&L2026.01 | 25.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Inverse++Backbone=R101-DCN, Modality=C2026.02 | 20.66 | 31.32 | 22.52 | 13.79 | 25.49 | 31.8 | 11.7 | 16.72 | 11.14 | 10.12 | 12.29 | 22.25 | 38.78 | 23.93 | 31.62 | 21.14 | 12.65 | 24.61 | |
| GaussianFormer2-256Backbone=R101-DCN, Modality=C2026.02 | 20.36 | 31.14 | 19.84 | 13.52 | 26.89 | 31.65 | 10.82 | 15.16 | 9.04 | 8.41 | 13.72 | 21.84 | 40.51 | 24.57 | 32.21 | 20.65 | 12.64 | 24.33 | |
| SurroundOccBackbone=R101-DCN, Modality=C2026.02 | 19.85 | 30.57 | 21.4 | 12.75 | 25.49 | 31.31 | 11.39 | 12.65 | 8.94 | 9.48 | 14.51 | 21.52 | 35.34 | 25.32 | 29.89 | 18.37 | 14.44 | 24.78 | |
| SurroundOccModality=C2026.01 | 19.8 | — | 21.4 | 12.7 | 25.4 | 31.3 | 11.3 | 12.6 | 8.9 | 9.4 | 14.5 | 21.5 | 35.3 | 25.3 | 29.8 | 18.3 | 14.4 | 24.7 | |
| Co-OccBackbone=R101, Modality=C2026.02 | 19.7 | 28.9 | 22.1 | 17.6 | 26.3 | 30.8 | 10.9 | 9.9 | 8.2 | 9.7 | 11.4 | 19.3 | 39 | 22.2 | 32.6 | 23 | 11.5 | 21.3 | |
| InverseMatrixVT3DBackbone=R101-DCN, Modality=C2026.02 | 18.99 | 29.72 | 18.55 | 14.29 | 22.28 | 30.02 | 10.19 | 15.2 | 10.03 | 9.71 | 13.28 | 20.98 | 37.18 | 23.47 | 27.74 | 17.46 | 10.36 | 23.13 | |
| OccFusionModality=C2026.01 | 18.9 | — | 18.5 | 14.2 | 22.2 | 30 | 10.1 | 15.2 | 10 | 9.7 | 13.2 | 20.9 | 37.1 | 23.4 | 27.7 | 17.4 | 10.3 | 23.1 | |
| GaussianFormerModality=C2026.01 | 18 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GaussianFormerBackbone=R101-DCN, Modality=C2026.02 | 16.96 | 27.37 | 18.16 | 9.58 | 21.09 | 26.83 | 8.04 | 10.13 | 7.8 | 5.84 | 12.66 | 18.24 | 35.53 | 18.51 | 27.79 | 19.23 | 11.04 | 20.85 |