Semantic Occupancy Prediction on nuScenes (val) benchmark leaderboard · SOTA2 Research

Semantic Occupancy Prediction on nuScenes (val)

33.53IoUVISA

Evaluation Results

Method	Links
VISA2026.06		33.53	21.91	20.91	14.86	27.87	31.67	13.82	18.18	13.87	10.46	15.16	23.5	42.95	23.93	27.95	26.26	14.63	24.6
GaussianWorld2026.06		33.17	21.36	20.44	13.09	26.86	31.01	12.76	17.1	13.33	10.69	14.11	22.94	42.31	25.26	27.53	25.81	14.38	24.21
QuadricFormer2026.06		32.13	21.11	21.38	13.41	28.4	31.01	11.32	17.1	13.94	11.28	14.75	22.66	40.81	24.71	26.51	25.22	13.54	21.78
VISA2026.06		31.8	20.05	17.48	15.02	27.84	27.85	10.23	15.95	12.95	10.32	10.1	20.58	41.52	25.37	25.83	24.2	12.59	23.01
GaussianFormer-22026.06		31.74	20.82	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
OccWorld2026.06		31.63	19.06	15.55	13.38	25.16	27.49	10.08	13.67	12.44	9.52	9.16	17.83	42.34	24.58	25.32	23.95	10.97	23.48
SurroundOcc2026.06		31.49	20.3	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
OccFormer2026.06		31.39	19.03	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
TPVFormer2026.06		30.86	17.1	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
BEVFormer2026.06		30.5	16.75	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
GaussianFormer2026.06		29.83	19.1	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
Atlas2026.06		28.66	15	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
MonoScene2026.06		23.96	7.31	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