Semantic Occupancy Prediction on Perciv-scenes
17.3Mean IoUVersion C
Evaluation Results
| Method | Links | |||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Version CFine-tuned=true2026.03 | 17.3 | 32.3 | — | 0 | 29.4 | 11.4 | 33.9 | 2 | 2.6 | 17.8 | — | 1.7 | 9.1 | 53.1 | 12.7 | 24.3 | 14 | 25 | 23.2 | |
| Version BFine-tuned=false2026.03 | 17.3 | 32.7 | — | 0.3 | 29.1 | 13.1 | 33.5 | 1.9 | 0 | 14.4 | — | 2.7 | 8.5 | 54.2 | 14.7 | 23.8 | 14.5 | 24.2 | 25.3 | |
| Version BFine-tuned=true2026.03 | 16.7 | 31.8 | — | 0 | 27.5 | 13.2 | 33.1 | 1.2 | 0.4 | 14.6 | — | 2 | 8 | 53.8 | 14.5 | 23.4 | 12.5 | 23.2 | 23.9 | |
| Version AFine-tuned=true2026.03 | 15.8 | 31.1 | — | 0 | 22.9 | 10.7 | 32.9 | 1.6 | 0 | 15.1 | — | 3.7 | 9.6 | 52.8 | 7.2 | 21.6 | 13.5 | 22.6 | 23.5 | |
| Version CFine-tuned=false2026.03 | 15.6 | 32.4 | — | 0 | 25.7 | 7.2 | 32.8 | 3.2 | 0 | 12.1 | — | 0.6 | 6.2 | 53.6 | 9.5 | 22.1 | 12.6 | 25.3 | 23.2 | |
| Version AFine-tuned=false2026.03 | 15.5 | 31.2 | — | 0 | 23 | 5.9 | 31 | 0.2 | 0.5 | 12 | — | 2.7 | 9.6 | 52.7 | 12.6 | 21.6 | 14.1 | 22.8 | 23.7 | |
| Version ANFine-tuned=false2026.03 | 14.5 | 30 | — | 0.7 | 15.2 | 3.2 | 27.9 | 0.7 | 1.5 | 14.9 | — | 3.8 | 9.4 | 51 | 9.6 | 20.7 | 13.3 | 22.1 | 22.7 | |
| Version ANFine-tuned=true2026.03 | 14.2 | 31 | — | 0 | 15.7 | 4 | 31.1 | 2.2 | 0 | 11 | — | 1 | 5.7 | 52.4 | 10.7 | 21 | 13.3 | 23.7 | 22 | |
| BaselineModality=Camera-only, Fine-tuned=true2026.03 | 12.1 | 24.6 | — | 0 | 12.6 | 5.4 | 27 | 1.2 | 0.1 | 7.5 | — | 2.4 | 7.2 | 48.7 | 8.3 | 21.3 | 10.1 | 14.2 | 14.9 | |
| BaselineModality=Camera-only2026.03 | 11.7 | 24.2 | — | 1.5 | 12.2 | 3.6 | 23.7 | 0.2 | 0.1 | 7.1 | — | 3.3 | 7 | 48.6 | 10.8 | 16 | 12.2 | 13.5 | 16 | |
| Radar OnlyModality=Radar2026.03 | 11.3 | 26.6 | — | 0 | 10.4 | 5.6 | 17.9 | 3.3 | 0 | 0.3 | — | 1.3 | 5.1 | 49 | 10.6 | 19.1 | 8.1 | 17.2 | 21.1 |