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

30.82mIoUTFusionOcc

Evaluation Results

Method
TFusionOcc2026.02	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
TFusionOcc2026.02	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
TFusionOcc2026.02	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
TFusionOcc2026.02	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
GaussianFusionOcc2026.02	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
DAOcc2026.02	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
TFusionOcc2026.02	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
GaussianFusionOcc2026.02	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
OccCylindrical2026.02	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
OccFusion2026.02	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
GaussianOcc3D2026.01	27.1	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—
GaussianOcc3D2026.01	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
OccFusion2026.02	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-Occ2026.02	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
OccFusion2026.01	26.5	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—
OccFusion2026.01	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
GaussianFormer3D2026.01	25.2	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—
Inverse++2026.02	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
GaussianFormer2-2562026.02	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
SurroundOcc2026.02	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
SurroundOcc2026.01	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-Occ2026.02	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
InverseMatrixVT3D2026.02	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
OccFusion2026.01	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
GaussianFormer2026.01	18	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—
GaussianFormer2026.02	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