4D Panoptic Occupancy Tracking on Occ3D Waymo
25.8OccAQ OverallLaGS-2s
Evaluation results
| Method | Links | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| LaGS-2sProtocol=ignore false positives, Backbone=VoVNetV2-992026.02 | 25.8 | — | — | — | — | — | — | — | — | 30.1 | — | — | 35.3 | 41.3 | 33.6 | — | |
| LaGS-2sProtocol=ignore false positives, Backbone=ResNet-502026.02 | 22 | — | — | — | — | — | — | — | — | 26.2 | — | — | 31.1 | 36.6 | 29.6 | — | |
| SGEBackbone=VoVNet-992026.06 | 19 | — | — | — | — | — | — | — | — | 21.9 | 24.1 | 23 | 25.3 | 27.8 | 24.6 | 61.9 | |
| LaGS-2sProtocol=standard, Backbone=VoVNetV2-992026.02 | 18.3 | — | — | — | — | — | — | — | — | 21.2 | 23.6 | 22.6 | 24.6 | 28.1 | 23.7 | 61.5 | |
| LaGS-2sBackbone=VoVNet-992026.06 | 18.3 | — | — | — | — | — | — | — | — | 21.2 | 23.6 | 22.6 | 24.6 | 28.1 | 23.7 | 61.5 | |
| SGEBackbone=ResNet-502026.06 | 16.8 | — | — | — | — | — | — | — | — | 20 | 22.1 | 20.7 | 23.7 | 25.8 | 23.2 | 60.3 | |
| LaGS-2sProtocol=standard, Backbone=ResNet-502026.02 | 15.3 | — | — | — | — | — | — | — | — | 18.4 | 20.6 | 19.2 | 22 | 24.3 | 21.4 | 59.8 | |
| LaGS-2sBackbone=ResNet-502026.06 | 15.3 | — | — | — | — | — | — | — | — | 18.4 | 20.6 | 19.2 | 22 | 24.3 | 21.4 | 59.8 | |
| TrackOccProtocol=ignore false positives, Backbone=VoVNetV2-992026.02 | 14.6 | — | — | — | — | — | — | — | — | 21.7 | — | — | 32.3 | 32.5 | 32.3 | — | |
| FoSOccEnd-to-End=true2026.03 | 14.2 | 30.8 | 15.3 | 44.9 | 40.8 | 11.1 | 18.9 | 3.2 | 5.8 | 20.9 | — | — | — | — | — | — | |
| TrackOccProtocol=ignore false positives, Backbone=ResNet-502026.02 | 13.8 | — | — | — | — | — | — | — | — | 20.2 | — | — | 29.4 | 29.7 | 29.4 | — | |
| TrackOcc (baseline)End-to-End=true2026.03 | 13.5 | 29.4 | 13.6 | 43.2 | 40 | 9.2 | 18.1 | 3.1 | 4.6 | 20 | — | — | — | — | — | — | |
| TrackOccProtocol=standard, Backbone=VoVNetV2-992026.02 | 11.7 | — | — | — | — | — | — | — | — | 16.7 | 20 | 16.7 | 23.9 | 24.7 | 23.7 | 62.9 | |
| TrackOccBackbone=VoVNet-992026.06 | 11.7 | — | — | — | — | — | — | — | — | 16.7 | 20 | 16.7 | 23.9 | 24.7 | 23.7 | 62.9 | |
| AB3DMOTProtocol=ignore false positives, Backbone=ResNet-502026.02 | 10.8 | — | — | — | — | — | — | — | — | 18 | — | — | 30 | 32.7 | 29.3 | — | |
| TrackOccProtocol=standard, Backbone=ResNet-502026.02 | 10.7 | — | — | — | — | — | — | — | — | 15.2 | 18.1 | 15.2 | 21.6 | 21.9 | 21.5 | 60.1 | |
| TrackOcc2026.06 | 10.7 | — | — | — | — | — | — | — | — | 15.2 | 18.1 | 15.2 | 21.6 | 21.9 | 21.5 | 60.1 | |
| CTVISProtocol=ignore false positives, Backbone=ResNet-502026.02 | 9.3 | — | — | — | — | — | — | — | — | 16.4 | — | — | 28.9 | 31.9 | 28.1 | — | |
| 4D-LCAEnd-to-End=false2026.03 | 9 | 29.1 | 10.7 | 39.2 | 34 | 11.7 | 11.4 | 3.4 | 4.1 | 16.2 | — | — | — | — | — | — | |
| 4D-LCAProtocol=ignore false positives, Backbone=ResNet-502026.02 | 8.7 | — | — | — | — | — | — | — | — | 16.2 | — | — | 30 | 32.7 | 29.3 | — | |
| AB3DMOTProtocol=standard, Backbone=ResNet-502026.02 | 8.5 | — | — | — | — | — | — | — | — | 13.3 | 18.1 | 15.6 | 20.9 | 21.9 | 20.6 | 58.4 | |
| AB3DMOT2026.06 | 8.5 | — | — | — | — | — | — | — | — | 13.3 | 18.1 | 15.6 | 20.9 | 21.9 | 20.6 | 58.4 | |
| MinVISProtocol=ignore false positives, Backbone=ResNet-502026.02 | 7.5 | — | — | — | — | — | — | — | — | 15 | — | — | 30 | 32.7 | 29.3 | — | |
| CTVISProtocol=standard, Backbone=ResNet-502026.02 | 7.3 | — | — | — | — | — | — | — | — | 12.5 | 18.7 | 16.5 | 21.2 | 22.3 | 20.9 | 59.6 | |
| CTVIS2026.06 | 7.3 | — | — | — | — | — | — | — | — | 12.5 | 18.7 | 16.5 | 21.2 | 22.3 | 20.9 | 59.6 | |
| 4D-LCAProtocol=standard, Backbone=ResNet-502026.02 | 7 | — | — | — | — | — | — | — | — | 12.1 | 18.1 | 15.6 | 20.9 | 21.9 | 20.6 | 58.4 | |
| 4D-LCA2026.06 | 7 | — | — | — | — | — | — | — | — | 12.1 | 18.1 | 15.6 | 20.9 | 21.9 | 20.6 | 58.4 | |
| MinVISProtocol=standard, Backbone=ResNet-502026.02 | 5.8 | — | — | — | — | — | — | — | — | 11 | 18.1 | 15.6 | 20.9 | 21.9 | 20.6 | 58.4 | |
| MinVIS2026.06 | 5.8 | — | — | — | — | — | — | — | — | 11 | 18.1 | 15.6 | 20.9 | 21.9 | 20.6 | 58.4 | |
| AB3DMOTEnd-to-End=false2026.03 | 5.3 | 29.1 | 10.7 | 39.2 | 34 | 11.7 | 6.8 | 1.7 | 2.9 | 12.4 | — | — | — | — | — | — | |
| Per-FrameProtocol=ignore false positives, Backbone=ResNet-502026.02 | 4.7 | — | — | — | — | — | — | — | — | 11.9 | — | — | 30 | 32.7 | 29.3 | — | |
| CTVISEnd-to-End=true2026.03 | 4.3 | 26.5 | 13.2 | 36.9 | 30.9 | 8.1 | 5.3 | 2.1 | 1.6 | 10.7 | — | — | — | — | — | — | |
| Per-FrameProtocol=standard, Backbone=ResNet-502026.02 | 4 | — | — | — | — | — | — | — | — | 9.1 | 18.1 | 15.6 | 20.9 | 21.9 | 20.6 | 58.4 | |
| Per-Frame2026.06 | 4 | — | — | — | — | — | — | — | — | 9.1 | 18.1 | 15.6 | 20.9 | 21.9 | 20.6 | 58.4 | |
| MinVISEnd-to-End=true2026.03 | 3.3 | 29.1 | 10.6 | 39.1 | 34 | 11.7 | 4 | 1.5 | 3.1 | 9.8 | — | — | — | — | — | — |