Semantic Occupancy Prediction on Occ3D (val)
49.4mIoUGaussianOcc3D
Evaluation Results
| Method | Links | ||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| GaussianOcc3DModality=C&L2026.01 | 49.4 | 12.5 | 54.2 | 34.5 | 56.4 | 59.7 | 32.4 | 43.7 | 48.6 | 32.7 | 40.8 | 49.5 | 81.1 | 40.3 | 54.1 | 60.9 | 69.7 | 69.5 | |
| GaussianOcc3DModality=Camera & LiDAR2026.01 | 49.4 | 12.5 | 54.2 | 34.5 | 56.4 | 59.7 | 32.4 | 43.7 | 48.6 | 32.7 | 40.8 | 49.5 | 81.1 | 40.3 | 54.1 | 60.9 | 69.7 | 69.5 | |
| OccFusionModality=C&L2026.01 | 48.7 | 12.4 | 51.8 | 33 | 54.6 | 57.7 | 34 | 43 | 48.4 | 35.5 | 41.2 | 48.6 | 83 | 44.7 | 57.1 | 60 | 62.5 | 61.3 | |
| OccFusionModality=Camera & LiDAR2026.01 | 48.7 | 12.4 | 51.8 | 33 | 54.6 | 57.7 | 34 | 43 | 48.4 | 35.5 | 41.2 | 48.6 | 83 | 44.7 | 57.1 | 60 | 62.5 | 61.3 | |
| GaussianFormer3DModality=C&L2026.01 | 46.4 | 9.8 | 50 | 31.3 | 54 | 59.4 | 28.1 | 36.2 | 46.2 | 26.7 | 40.2 | 49.7 | 79.1 | 37.3 | 49 | 55 | 69.1 | 67.6 | |
| GaussianFormer3DModality=Camera & LiDAR2026.01 | 46.4 | 9.8 | 50 | 31.3 | 54 | 59.4 | 28.1 | 36.2 | 46.2 | 26.7 | 40.2 | 49.7 | 79.1 | 37.3 | 49 | 55 | 69.1 | 67.6 | |
| COTRModality=C2026.01 | 44.5 | 13.3 | 52.1 | 32 | 46 | 55.6 | 32.6 | 32.8 | 30.4 | 34.1 | 37.7 | 41.8 | 84.5 | 46.2 | 57.6 | 60.7 | 52 | 46.3 | |
| COTRModality=Camera2026.01 | 44.5 | 13.3 | 52.1 | 32 | 46 | 55.6 | 32.6 | 32.8 | 30.4 | 34.1 | 37.7 | 41.8 | 84.5 | 46.2 | 57.6 | 60.7 | 52 | 46.3 | |
| PanoOccModality=C2026.01 | 42.1 | 11.7 | 50.5 | 29.6 | 49.4 | 55.5 | 23.3 | 33.3 | 30.6 | 31 | 34.4 | 42.6 | 83.3 | 44.2 | 54.4 | 56 | 45.9 | 40.4 | |
| FB-OccModality=C2026.01 | 42.1 | 14.3 | 49.7 | 30 | 46.6 | 51.5 | 29.3 | 29.1 | 29.4 | 30.5 | 35 | 39.4 | 83.1 | 47.2 | 55.6 | 59.9 | 44.9 | 39.6 | |
| PanoOccModality=Camera2026.01 | 42.1 | 11.7 | 50.5 | 29.6 | 49.4 | 55.5 | 23.3 | 33.3 | 30.6 | 31 | 34.4 | 42.6 | 83.3 | 44.2 | 54.4 | 56 | 45.9 | 40.4 | |
| FB-OccModality=Camera2026.01 | 42.1 | 14.3 | 49.7 | 30 | 46.6 | 51.5 | 29.3 | 29.1 | 29.4 | 30.5 | 35 | 39.4 | 83.1 | 47.2 | 55.6 | 59.9 | 44.9 | 39.6 | |
| BEVDet-Occ+VisionPADBackbone=R50, Image Size=384 x 704, Pre-train by Det.=true, Temporal Frames=8f2024.11 | 42 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BEVFormerVenue=ECCV'22, Backbone=R101, Image Size=900 x 1600, Pre-train by Det.=true2024.11 | 39.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BEVDet-OccVenue=ArXiv'22, Backbone=R50, Image Size=384 x 704, Pre-train by Det.=true, Temporal Frames=8f2024.11 | 39.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BEVDet4DModality=C2026.01 | 39.3 | 9.3 | 47.1 | 19.2 | 41.5 | 52.2 | 27.2 | 21.2 | 23.3 | 21.6 | 35.8 | 38.9 | 82.5 | 40.4 | 53.8 | 57.7 | 49.9 | 45.8 | |
| BEVDet4DModality=Camera2026.01 | 39.3 | 9.3 | 47.1 | 19.2 | 41.5 | 52.2 | 27.2 | 21.2 | 23.3 | 21.6 | 35.8 | 38.9 | 82.5 | 40.4 | 53.8 | 57.7 | 49.9 | 45.8 | |
| FB-OccVenue=CVPRW'23, Backbone=R50, Image Size=384 x 704, Pre-train by Det.=true, Temporal Frames=16f2024.11 | 39.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OPUSVenue=NeurIPS'24, Backbone=R50, Image Size=256 x 704, Pre-train by Det.=false, Temporal Frames=8f2024.11 | 36.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GaussianFormerModality=C2026.01 | 35.5 | 8.8 | 40.9 | 23.3 | 42.9 | 49.7 | 19.2 | 24.8 | 24.4 | 22.5 | 29.4 | 35.3 | 79 | 36.9 | 46.6 | 48.2 | 38.8 | 33.1 | |
| GaussianFormerModality=Camera2026.01 | 35.5 | 8.8 | 40.9 | 23.3 | 42.9 | 49.7 | 19.2 | 24.8 | 24.4 | 22.5 | 29.4 | 35.3 | 79 | 36.9 | 46.6 | 48.2 | 38.8 | 33.1 | |
| UVTR+VisionPADBackbone=ConvNeXt-S, Image Size=900 x 1600, Pre-train by Det.=false2024.11 | 35.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| TPVFormerVenue=CVPR'23, Backbone=R50, Image Size=900 x 1600, Pre-train by Det.=true2024.11 | 34.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| UVTR+UniPADVenue=CVPR'24, Backbone=ConvNeXt-S, Image Size=900 x 1600, Pre-train by Det.=false2024.11 | 31 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SparseOccVenue=ECCV'24, Backbone=R50, Image Size=256 x 704, Pre-train by Det.=false, Temporal Frames=16f2024.11 | 30.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| UVTR+Venue=NeurIPS'22, Backbone=ConvNeXt-S, Image Size=900 x 1600, Pre-train by Det.=false2024.11 | 30.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| TPVFormerModality=C2026.01 | 28.3 | 6.7 | 39.2 | 14.2 | 41.5 | 47 | 19.2 | 22.6 | 17.9 | 14.5 | 30.2 | 35.5 | 56.2 | 33.7 | 35.7 | 31.6 | 20 | 16.1 | |
| TPVFormerModality=Camera2026.01 | 28.3 | 6.7 | 39.2 | 14.2 | 41.5 | 47 | 19.2 | 22.6 | 17.9 | 14.5 | 30.2 | 35.5 | 56.2 | 33.7 | 35.7 | 31.6 | 20 | 16.1 | |
| RenderOccModality=C2026.01 | 26.1 | 4.8 | 31.7 | 10.7 | 27.7 | 26.5 | 13.9 | 18.2 | 17.7 | 17.8 | 21.2 | 23.3 | 63.2 | 36.4 | 46.2 | 44.3 | 19.6 | 20.7 | |
| RenderOccModality=Camera2026.01 | 26.1 | 4.8 | 31.7 | 10.7 | 27.7 | 26.5 | 13.9 | 18.2 | 17.7 | 17.8 | 21.2 | 23.3 | 63.2 | 36.4 | 46.2 | 44.3 | 19.6 | 20.7 | |
| RenderOccVenue=ICRA'24, Backbone=Swin-B, Image Size=512 x 1408, Pre-train by Det.=true2024.11 | 24.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BEVFormerModality=C2026.01 | 23.7 | 5 | 38.8 | 10 | 34.4 | 41.1 | 13.2 | 16.5 | 18.2 | 17.8 | 18.7 | 27.7 | 49 | 27.7 | 29.1 | 25.4 | 15.4 | 14.5 | |
| BEVFormerModality=Camera2026.01 | 23.7 | 5 | 38.8 | 10 | 34.4 | 41.1 | 13.2 | 16.5 | 18.2 | 17.8 | 18.7 | 27.7 | 49 | 27.7 | 29.1 | 25.4 | 15.4 | 14.5 | |
| BEVDetModality=C2026.01 | 11.7 | 2.1 | 15.3 | 0 | 4.2 | 13 | 1.4 | 0 | 0.4 | 0.13 | 6.6 | 6.7 | 52.7 | 19 | 26.5 | 21.8 | 14.5 | 15.3 | |
| BEVDetModality=Camera2026.01 | 11.7 | 2.1 | 15.3 | 0 | 4.2 | 13 | 1.4 | 0 | 0.4 | 0.13 | 6.6 | 6.7 | 52.7 | 19 | 26.5 | 21.8 | 14.5 | 15.3 | |
| MonoSceneModality=C2026.01 | 6.1 | 1.8 | 7.2 | 4.3 | 4.9 | 9.4 | 5.7 | 4 | 3 | 5.9 | 4.5 | 7.2 | 14.9 | 6.3 | 7.9 | 7.4 | 1 | 7.7 | |
| MonoSceneModality=Camera2026.01 | 6.1 | 1.8 | 7.2 | 4.3 | 4.9 | 9.4 | 5.7 | 4 | 3 | 5.9 | 4.5 | 7.2 | 14.9 | 6.3 | 7.9 | 7.4 | 1 | 7.7 |