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

32.7mIoUGau-Occ

Evaluation results

Method
Gau-Occ2026.03	32.7	44.3	33.1	16.5	41.1	43.9	21.9	26.6	31.1	23.1	24.5	34	49	26.3	32.9	33.4	39.3	45.7
DAOcc2026.03	32.1	42.8	32.7	15.8	40.8	42.9	21.7	26.3	30.1	23.4	23.7	33.5	47.2	25.4	31.9	33.8	38.6	45.2
SDGOcc2026.03	31.7	—	32.2	15.6	39.7	42.4	22.2	26.9	29.7	22.7	24.2	33.2	45.9	25.1	31.8	33.5	38.9	44.5
TFusionOcc (T-SQ-IW-25600)2026.02	31.47	47.01	31.96	2,078	34.57	39.73	24.02	2,782	31.19	2,382	23.05	30.67	43.17	27.18	30.13	31.18	37.52	46.71
TFusionOcc (T-SQ-IW-12800)2026.02	31.21	46.92	31.65	2,013	34.75	39.7	23.08	2,700	30.89	2,333	22.02	30.4	43.11	27.78	30.25	31.47	37.15	46.6
TFusionOcc (T-SQ-25600)2026.02	30.88	46.14	30.87	2,126	33.68	39.25	22.54	2,834	31.45	2,361	22.8	30.16	41.76	26.12	29.23	30.26	36.77	46.06
TFusionOcc (T-SQ-12800)2026.02	30.76	46.7	30.67	2,127	33.12	38.96	22.09	2,754	30.47	2,287	21.65	29.86	42.63	27.18	29.8	30.91	36.81	46.26
DAOcc2026.02	30.5	45	30.8	1,950	34	38.8	25	2,770	29.9	2,250	23.2	31.6	41	25.9	29.4	29.9	35.2	43.5
GaussianFusionOcc2026.02	30.37	45.2	30.43	1,854	36.23	39.66	22.57	2,735	30.3	1,914	24.56	31.95	42.6	25.82	29.48	29.7	34.78	42.95
GaussianFusionOcc2026.02	30.21	45.16	30.22	1,870	35.91	39.57	22.67	2,736	30.1	1,859	24.45	31.25	43.06	25.76	29.12	29.33	34.65	42.7
TFusionOcc (T-P-25600)2026.02	30.04	45.49	30.15	1,958	34.2	38.64	22.1	2,660	29.85	2,224	22.44	29.65	41.08	25.19	28.43	29.71	35.77	45.01
OccMamba2026.03	29.9	42.3	30.2	15.5	37.2	40.3	20.1	25.3	26.5	19.7	23.1	31.3	43.9	25.7	30.7	30.1	34.2	43.8
OccCylindrical2026.02	28.67	44.94	26.17	2,212	31.47	36.84	17.95	2,777	29.85	2,390	20.64	28.27	43	23.14	27.99	27.81	30.81	40.95
OccFusion2026.02	28.27	43.96	28.32	2,095	35.06	36.84	20.33	2,622	25.86	1,917	21.27	30.64	40.08	23.75	25.56	27.63	29.82	40.82
OccFusion2026.02	27.55	43.53	25.15	1,987	34.75	36.21	20.03	2,311	25.25	1,750	22.7	30.06	39.47	23.26	25.68	27.57	29.54	40.6
Co-Occ2026.02	27.1	41.1	28.1	1,610	34	37.2	17	2,160	20.8	1,590	21.9	28.7	42.3	25.4	29.1	28.6	28.2	38
GaussianFormer3D2026.02	27.1	43.3	26.9	1,580	32.7	36.1	18.6	2,170	24.1	1,300	21.3	29	40.6	23.7	27.3	28.2	32.6	42.3
Co-Occ2026.03	27.1	41.1	28.1	16.1	34	37.2	17	21.6	20.8	15.9	21.9	28.7	42.3	25.4	29.1	28.6	28.2	38
M-CONet2026.03	24.7	39.2	24.8	13	31.6	34.8	14.6	18	20	14.7	20	26.6	39.2	22.8	26.1	26	26	37.1
Co-Occ2026.02	22.9	42.2	22	690	25.7	32.4	14.5	1,350	21	1,050	18	22.5	36.6	21.8	24.6	25.7	31.2	39.9
DLWM2026.04	21.85	34.61	21.71	13.56	27.65	31.22	12.5	16.93	12.35	11.42	13.96	24.12	42.27	24.94	27.39	26.36	16.61	26.64
GaussianWorld*2026.04	21.79	32.77	21.61	13.3	27.28	31.21	13.89	16.91	13.28	11.77	14.82	23.66	41.91	24.31	28.35	26.32	15.67	24.54
Inverse++2026.02	20.91	31.73	20.9	1,327	28.4	31.37	11.9	1,776	15.39	1,349	13.32	23.19	39.37	22.85	25.27	23.68	13.43	20.98
Baseline2026.04	20.83	31.77	21.17	13.82	26.74	31.95	10.9	16.03	13.94	10.87	13.44	22.52	40.79	24.28	26.06	24.13	14.05	22.55
GaussianFormer2-2562026.02	20.82	31.74	21.39	1,344	28.49	30.82	10.92	1,584	13.55	1,053	14.04	22.92	40.61	24.36	26.08	24.27	13.83	21.98
GaussianFormer-22026.04	20.82	31.74	21.39	13.44	28.49	30.82	10.92	15.84	13.55	10.53	14.04	22.92	40.61	24.36	26.08	24.27	13.83	21.98
GaussianFormer-22026.03	20.8	31.7	21.4	13.4	28.5	30.8	10.9	15.8	13.6	10.5	14	22.9	40.6	24.4	26.1	24.3	13.8	22
OccFusion2026.02	20.73	33.97	20.46	1,398	27.99	31.52	13.68	1,845	15.79	1,305	13.94	23.84	37.85	19.6	22.41	21.2	16.16	21.81
Co-Occ2026.02	20.3	30	22.5	1,120	28.6	29.5	9.9	1,580	13.5	870	13.6	22.2	34.9	23.1	24.2	24.1	18	24.8
SurroundOcc2026.02	20.3	31.49	20.59	1,168	28.06	30.86	10.7	1,514	14.09	1,206	14.38	22.26	37.29	23.7	24.49	22.77	14.89	21.86
SurroundOcc2026.03	20.3	31.5	20.6	11.7	28.1	30.9	10.7	15.1	14.1	12.1	14.4	22.3	37.3	23.7	26.5	22.8	14.9	21.9
SurroundOcc2026.04	20.3	31.49	20.59	11.68	28.06	30.86	10.7	15.14	14.09	12.06	14.38	22.26	37.29	23.7	24.49	22.77	14.89	21.86
FB-Occ2026.02	19.6	31.5	20.6	1,130	26.9	29.8	10.4	1,360	13.7	1,140	11.5	20.6	38.2	21.5	24.6	22.7	14.8	21.6
FB-Occ2026.03	19.6	31.5	20.6	11.3	26.9	29.8	10.4	13.6	13.7	11.4	11.5	20.6	38.2	21.5	24.6	22.7	14.8	21.6
GaussianFormer2026.02	19.1	29.83	19.52	1,126	26.11	29.78	10.47	1,383	12.58	867	12.74	21.57	39.63	23.28	24.46	22.99	9.59	19.12
GaussianFormer2026.03	19.1	29.8	19.5	11.3	26.1	29.8	10.5	13.8	12.6	8.7	12.7	21.6	39.6	23.3	24.5	23	9.6	19.1
GaussianFormer2026.04	19.1	29.83	19.52	11.26	26.11	29.78	10.47	13.83	12.58	8.67	12.74	21.57	39.63	23.28	24.46	22.99	9.59	19.12
OccFormer2026.02	19.03	31.39	18.65	1,041	23.92	30.29	10.31	1,419	13.59	1,013	12.49	20.77	38.78	19.79	24.19	22.21	13.48	21.35
OccFormer2026.04	19.03	31.39	18.65	10.41	23.92	30.29	10.31	14.19	13.59	10.13	12.49	20.77	38.78	19.79	24.19	22.21	13.48	21.35
RenderOcc2026.02	19	29.2	19.7	1,120	28.1	28.2	9.8	1,470	11.8	1,190	13.1	20.1	33.2	21.3	22.6	22.3	15.3	20.9
OccFormer2026.03	19	31.4	18.7	10.4	23.9	30.3	10.3	14.2	13.6	10.1	12.5	20.8	38.8	19.8	24.2	22.2	13.5	21.4
InverseMatrixVT3D2026.02	18.88	30.03	18.39	1,246	26.3	29.11	11	1,574	14.78	1,138	13.31	21.61	36.3	19.97	21.26	20.43	11.49	18.47
C-CONet2026.02	18.4	26.1	18.6	1,000	26.4	27.4	8.6	1,570	13.3	970	10.9	20.2	33	20.7	21.4	21.8	14.7	21.3
C-CONet2026.03	18.4	26.1	18.6	10	26.4	27.4	8.6	15.7	13.3	9.7	10.9	20.2	33	20.7	21.4	21.8	14.7	21.3
L-CONet2026.02	17.7	39.4	19.2	400	15.1	26.9	6.2	380	6.8	600	14.1	13.1	39.7	19.1	24	23.9	25.1	35.7
L-CONet2026.03	17.7	39.4	19.2	4	15.1	26.9	6.2	3.8	6.8	6	14.1	13.1	39.7	19.1	24	23.9	25.1	35.7
TPVFormer2026.02	17.1	30.86	15.96	531	23.86	27.32	9.79	874	7.09	520	10.97	19.22	38.87	21.25	24.26	23.15	11.73	20.81
TPVFormer2026.03	17.1	30.9	16	5.3	23.9	27.3	9.8	8.7	7.1	5.2	11	19.2	38.9	21.3	24.3	23.2	11.7	20.8
TPVFormer2026.04	17.1	30.86	15.96	5.31	23.86	27.32	9.79	8.74	7.09	5.2	10.97	19.22	38.87	21.25	24.26	23.15	11.73	20.81
BEVFormer2026.03	16.8	30.5	14.2	6.6	23.5	28.3	8.7	10.8	6.6	4.1	11.2	17.8	37.3	18	22.9	22.2	13.8	22.2
BEVFormer2026.02	16.75	30.5	14.22	658	23.46	28.28	8.66	1,077	6.64	405	11.2	17.78	37.28	18	22.88	22.17	13.8	22.21
BEVFormer2026.04	16.75	30.5	14.22	6.58	23.46	28.28	8.66	10.77	6.64	4.05	11.2	17.78	37.28	18	22.88	22.17	13.8	22.21
Atlas2026.02	15	28.66	10.64	568	19.66	24.94	8.9	884	6.47	328	10.42	16.21	34.86	15.46	21.89	20.95	11.21	20.54
Atlas2026.04	15	28.66	10.64	5.68	19.66	24.94	8.9	8.84	6.47	3.28	10.42	16.21	34.86	15.46	21.89	20.95	11.21	20.54
LMSCNet2026.02	14.9	36.6	13.1	450	14.7	22.1	12.6	420	7.2	710	12.2	11.5	26.3	14.3	21.1	15.2	18.5	34.2
LMSCNet2026.03	14.9	36.6	13.1	4.5	14.7	22.1	12.6	4.2	7.2	7.1	12.2	11.5	26.3	14.3	21.1	15.2	18.5	34.2
MonoScene2026.02	7.31	23.96	4.03	35	8	8.04	2.9	28	1.16	67	4.01	4.35	27.72	5.2	15.13	11.29	9.03	14.86
MonoScene2026.04	7.31	23.96	4.03	0.35	8	8.04	2.9	0.28	1.16	0.67	4.01	4.35	27.72	5.2	15.13	11.29	9.03	14.86
MonoScene2026.03	7.3	24	4	0.4	8	8	2.9	0.3	1.2	0.7	4	4.4	27.7	5.2	15.1	11.3	9	14.9