# Occupancy Estimation on Oxford RobotCar Scene 2

Source: [Occupancy Estimation on Oxford RobotCar Scene 2](<https://www.sota2.com/research/sota/occupancy-estimation-on-oxford-robotcar-scene-2>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-03-13T06:47:59.068Z

Evaluation of Occupancy Estimation performance on the Oxford RobotCar Scene 2 dataset, reporting CD and RCD metrics.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Occupancy Estimation |
| Dataset (including any stated split) | Oxford RobotCar Scene 2 |
| Metric | CD |
| Unit | SCALAR |
| Direction | Lower is better |
| Results loaded | 3 of 3 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [CD](<https://www.sota2.com/research/sota/occupancy-estimation-on-oxford-robotcar-scene-2.md?metric=CD>): Lower is better; unit: SCALAR.

- [RCD](<https://www.sota2.com/research/sota/occupancy-estimation-on-oxford-robotcar-scene-2.md?metric=RCD>): Lower is better; unit: PERCENT.

## Recorded results

| Method | CD | Result date | Report paper |
| --- | --- | --- | --- |
| RF4D | 8.0909 | Not recorded | 68fa78f91e209131cea7b696 |
| Bayesian filtering | 21.7657 | Not recorded | 68fa78f91e209131cea7b696 |
| CFAR | 30.5561 | Not recorded | 68fa78f91e209131cea7b696 |

### RF4D

CD: 8.0909. Result ID: 69b3b30147f34ce9249d10da.

[Reporting paper](<https://www.sota2.com/research/paper/68fa78f91e209131cea7b696.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa78f91e209131cea7b696.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### Bayesian filtering

CD: 21.7657. Result ID: 69b3b30147f34ce9249d10d9.

[Reporting paper](<https://www.sota2.com/research/paper/68fa78f91e209131cea7b696.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### CFAR

CD: 30.5561. Result ID: 69b3b30147f34ce9249d10d8.

[Reporting paper](<https://www.sota2.com/research/paper/68fa78f91e209131cea7b696.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

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