3D Semantic Occupancy Prediction on SurroundOcc v1.0 (test)

38.13IoUSuperOcc-L

Evaluation results

Method
SuperOcc-L2026.01	38.13	24.55	23.92	1,243	29.77	33.62	17.36	1,774	1,495	1,479	13.42	26.25	48.22	29.22	32.16	30.2	18.67	30.04
SuperOcc-M2026.01	36.99	23.95	23.73	1,207	28.46	33.13	17.42	1,768	1,462	1,420	12.87	25.27	47.84	29.33	31.58	29.15	17.28	28.55
SuperOcc-S2026.01	35.63	23.15	21.96	1,214	28.46	32.86	16.98	1,662	1,360	1,306	12.4	24.52	47.16	29.07	30.81	28.46	14.9	26.87
SuperOcc-T2026.01	34.91	22.48	21.35	1,190	28.35	32.12	15.46	1,584	1,320	1,183	11.87	23.71	47.3	29.19	30.29	28.22	13.23	25.75
GaussianWorld2026.01	33.4	22.13	21.38	1,412	27.71	31.84	13.66	1,743	1,366	1,146	15.09	23.94	42.98	24.86	28.84	26.74	15.69	24.74
SurroundOcc2026.01	31.49	20.3	20.59	1,168	28.06	30.86	10.7	1,514	1,409	1,206	14.38	22.26	37.29	23.7	24.49	22.77	14.89	21.86
OccFormer2026.01	31.39	19.03	18.65	1,041	23.92	30.29	10.31	1,419	1,359	1,013	12.49	20.77	38.78	19.79	24.19	22.21	13.48	21.35
QuadricFormer2026.01	31.22	20.12	19.58	1,311	27.27	29.64	11.25	1,626	1,265	915	12.51	21.24	40.2	24.34	25.69	24.24	12.95	21.86
TPVFormer*2026.01	30.86	17.1	15.96	531	23.86	27.32	9.79	874	709	520	10.97	19.22	38.87	21.25	24.26	23.15	11.73	20.81
GaussianFormer-22026.01	30.56	20.02	20.15	1,299	27.61	30.23	11.19	1,531	1,264	963	13.31	22.26	39.68	23.47	25.62	23.2	12.25	20.73
BEVFormer2026.01	30.5	16.75	14.22	658	23.46	28.28	8.66	1,077	664	405	11.2	17.78	37.28	18	22.88	22.17	13.8	22.21
GaussianFormer2026.01	29.83	19.1	19.52	1,126	26.11	29.78	10.47	1,383	1,258	867	12.74	21.57	39.63	23.28	24.46	22.99	9.59	19.12
Atlas2026.01	28.66	15	10.64	568	19.66	24.94	8.9	884	647	328	10.42	16.21	34.86	15.46	21.89	20.95	11.21	20.54
MonoScene2026.01	23.96	7.31	4.03	35	8	8.04	2.9	28	116	67	4.01	4.35	27.72	5.2	15.13	11.29	9.03	14.86
TPVFormer2026.01	11.51	11.66	16.14	717	22.63	17.13	8.83	1,139	1,046	823	9.43	17.02	8.07	13.64	13.85	10.34	4.9	7.37