Semantic Scene Completion on SemanticKITTI hidden (test)
66.2IoU: roadScanSSC
Evaluation results
| Method | Links | ||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| ScanSSCSetting=Stereo / multi-view, Date=CVPR20252026.04 | 66.2 | — | 44.54 | 35.9 | 35.1 | 12.5 | 25.3 | 27.1 | 3.5 | 3.5 | 3.2 | 6.1 | 25.2 | 11 | 30.6 | 1.8 | 5.3 | 0.7 | 20.5 | 8.4 | 8.9 | 17.4 | |
| VoxSAMNetSetting=Single-frame, Date=CVPR20262026.04 | 65.8 | — | 47.88 | 35.5 | 33.9 | 12.3 | 28.2 | 27 | 7.2 | 4.4 | 3.9 | 7.7 | 28.7 | 13.4 | 30.3 | 3.1 | 5.3 | 0.5 | 19.1 | 9.9 | 10.5 | 18.19 | |
| VLSceneSetting=Stereo / multi-view, Date=AAAI20252026.04 | 64.7 | — | 45.14 | 34.7 | 32.4 | 13.1 | 27.3 | 26.1 | 6.5 | 4.2 | 3.8 | 8.3 | 26.4 | 10 | 29.4 | 2.8 | 5.1 | 0.9 | 20 | 8.9 | 8.4 | 17.52 | |
| VisHall3DSetting=Single-frame, Date=ICCV20252026.04 | 64.6 | — | 46.5 | 34.1 | 32 | 12.5 | 26.9 | 26.7 | 7.5 | 2.9 | 3.3 | 6.2 | 27.3 | 12.5 | 28 | 2.3 | 5.1 | 1.9 | 19.5 | 9.2 | 9.2 | 17.46 | |
| CGFormer2024.05 | 64.3 | 0.1663 | 44.41 | 34.2 | 34.1 | 12.1 | 25.8 | 26.1 | 4.3 | 3.7 | 1.3 | 2.7 | 24.5 | 11.2 | 29.3 | 1.7 | 3.6 | 0.4 | 18.7 | 8.7 | 9.3 | — | |
| CGFormerSetting=Single-frame, Date=NIPS20242026.04 | 64.3 | — | 44.41 | 34.2 | 34.1 | 12.1 | 25.8 | 26.1 | 4.3 | 3.7 | 1.3 | 2.7 | 24.5 | 11.2 | 29.3 | 1.7 | 3.6 | 0.4 | 18.7 | 8.7 | 9.3 | 16.63 | |
| FlowSceneSetting=Temporal, Date=NIPS20252026.04 | 64.1 | — | 45.2 | 35 | 33.7 | 13 | 27.7 | 26.4 | 10 | 4.2 | 3.1 | 7 | 26.3 | 10 | 30.2 | 3.1 | 5.1 | 1.1 | 22.2 | 8.9 | 9.1 | 17.7 | |
| SOAPSetting=Temporal, Date=CVPR20252026.04 | 63.6 | — | 46.09 | 36.2 | 36.8 | 17.2 | 28.7 | 28.9 | 3.3 | 5 | 5.3 | 7 | 29.8 | 15.1 | 32.3 | 3.7 | 2.3 | 0.2 | 22.5 | 11.7 | 13.1 | 19.09 | |
| Bi-SSCCamera-based=true2026.02 | 63.4 | — | 45.1 | 33.3 | 31.7 | 11.2 | 26.6 | 2,500 | 680 | 180 | 290 | 680 | 26.1 | 10.5 | 28.9 | 170 | 330 | 100 | 19.4 | 9.3 | 8.4 | 16.73 | |
| DISCSetting=Single-frame, Date=ICCV20252026.04 | 63.1 | — | 45.32 | 34.7 | 34.6 | 12.6 | 26.6 | 26.7 | 5.5 | 4 | 4.7 | 8.1 | 26.5 | 10.3 | 29.3 | 2.8 | 2.5 | 1.1 | 19.3 | 8.4 | 8.7 | 17.35 | |
| StereoScene2024.05 | 61.9 | 0.1536 | 43.34 | 31.2 | 30.7 | 10.7 | 24.2 | 22.8 | 2.8 | 3.4 | 2.4 | 6.1 | 23.8 | 8.4 | 27 | 2.9 | 2.2 | 0.5 | 16.5 | 7 | 7.2 | — | |
| MRACamera-based=true2026.02 | 61.2 | — | 46.65 | 33.7 | 33.2 | 9.9 | 29.3 | 2,690 | 310 | 60 | 100 | 600 | 29.5 | 13.7 | 30.4 | 130 | 200 | 0 | 19.2 | 10.3 | 8.2 | 16.82 | |
| SGNCamera-based=true2026.02 | 60.4 | — | 45.42 | 31.4 | 28.9 | 8.7 | 28.4 | 2,540 | 450 | 90 | 160 | 370 | 27.4 | 12.6 | 28.4 | 50 | 30 | 10 | 18.1 | 10 | 8.3 | 15.76 | |
| MonoOccvariant=L2024.05 | 59.1 | 0.1563 | — | 30.9 | 27.1 | 9.8 | 22.9 | 23.9 | 7.2 | 4.5 | 2.4 | 7.7 | 25 | 9.8 | 26.1 | 2.8 | 4.7 | 0.6 | 16.9 | 7.3 | 8.4 | — | |
| Symphonize2024.05 | 58.4 | 0.1504 | 42.19 | 29.3 | 26.9 | 11.7 | 24.7 | 23.6 | 3.2 | 3.6 | 2.6 | 5.6 | 24.2 | 10 | 23.1 | 3.2 | 1.9 | 2 | 16.1 | 7.7 | 8 | — | |
| MixSSCSetting=Single-frame, Date=TCSVT20252026.04 | 58.4 | — | 44.34 | 27.8 | 25.8 | 8.2 | 23.9 | 23.8 | 5.5 | 1.8 | 1.8 | 3.4 | 25.7 | 8.9 | 25.9 | 1.9 | 2 | 0.4 | 12.8 | 5.6 | 5.8 | 14.2 | |
| NDC-sceneCamera-based=true2026.02 | 58.12 | — | 36.19 | 28.05 | 25.31 | 6.53 | 14.9 | 1,913 | 477 | 193 | 207 | 669 | 17.94 | 3.49 | 25.01 | 344 | 277 | 164 | 12.85 | 4.43 | 2.96 | 12.58 | |
| H2GFormervariant=T2024.05 | 57.9 | 0.146 | 43.52 | 30.4 | 30 | 6.9 | 24 | 23.7 | 5.2 | 0.6 | 1.2 | 5 | 25.2 | 10.7 | 25.8 | 1.1 | 0.1 | 0 | 14.6 | 7.5 | 9.3 | — | |
| LOMASetting=Single-frame, Date=AAAI20252026.04 | 57.8 | — | 43.1 | 31.8 | 32.2 | 9.5 | 25.3 | 24.9 | 4.1 | 1.7 | 1.7 | 6.4 | 25.6 | 8.7 | 24.7 | 1.4 | 1.7 | 0.6 | 16.8 | 6.5 | 6.1 | 15.1 | |
| SurroundOcc2024.05 | 56.9 | 0.1186 | 34.72 | 28.3 | 30.2 | 6.8 | 15.2 | 20.6 | 1.4 | 1.6 | 1.2 | 4.4 | 14.9 | 3.4 | 19.3 | 1.4 | 2 | 0.1 | 11.3 | 3.9 | 2.4 | — | |
| H2GFormervariant=S2024.05 | 56.4 | 0.1372 | 44.2 | 28.6 | 26.5 | 4.9 | 22.8 | 23.4 | 4.8 | 0.8 | 0.9 | 4.1 | 24.6 | 9.1 | 23.8 | 1.2 | 2.5 | 0.1 | 13.3 | 6.4 | 6.3 | — | |
| H2GFormer-SSetting=Single-frame, Date=AAAI20242026.04 | 56.4 | — | 44.2 | 28.6 | 26.5 | 4.9 | 22.8 | 23.4 | 4.8 | 0.8 | 0.9 | 4.1 | 24.6 | 9.1 | 23.8 | 1.2 | 2.5 | 0.1 | 13.3 | 6.4 | 6.3 | 13.72 | |
| OccFormer2024.05 | 55.9 | 0.1232 | 34.53 | 30.3 | 31.5 | 6.5 | 15.7 | 21.6 | 1.2 | 1.5 | 1.7 | 3.2 | 16.8 | 3.9 | 21.3 | 2.2 | 1.1 | 0.2 | 11.9 | 3.8 | 3.7 | — | |
| OccFormerCamera-based=true2026.02 | 55.9 | — | 34.53 | 30.3 | 31.5 | 6.5 | 15.7 | 2,160 | 120 | 150 | 170 | 320 | 16.8 | 3.9 | 21.3 | 220 | 110 | 20 | 11.9 | 3.8 | 3.7 | 12.32 | |
| SkimbaDiffSetting=Single-frame, Date=AAAI20252026.04 | 55.7 | — | 46.95 | 30.6 | 20.4 | 5.5 | 25.4 | 26.1 | 2.3 | 2.8 | 0.8 | 3.1 | 28.5 | 10.4 | 23.4 | 1.1 | 0.3 | 0 | 17.3 | 5.2 | 3 | 13.78 | |
| DepthSSC2024.05 | 55.64 | 0.1311 | 44.58 | 27.25 | 25.72 | 5.78 | 20.46 | 21.94 | 3.74 | 1.35 | 0.98 | 4.17 | 23.37 | 7.64 | 21.56 | 1.34 | 2.79 | 0.28 | 12.94 | 5.87 | 6.23 | — | |
| HASSCvariant=T2024.05 | 55.3 | 0.1438 | 42.87 | 29.6 | 25.9 | 11.3 | 23.1 | 23 | 2.9 | 1.9 | 1.5 | 4.9 | 24.8 | 9.8 | 26.5 | 1.4 | 3 | 0 | 14.3 | 7 | 7.1 | — | |
| MonoOccvariant=S2024.05 | 55.2 | 0.138 | — | 27.8 | 25.1 | 9.7 | 21.4 | 23.2 | 5.2 | 2.2 | 1.5 | 5.4 | 24 | 8.7 | 23 | 1.7 | 2 | 0.2 | 13.4 | 5.8 | 6.4 | — | |
| TPVFormer2024.05 | 55.1 | 0.1126 | 34.25 | 27.2 | 27.4 | 6.5 | 14.8 | 19.2 | 3.7 | 1 | 0.5 | 2.3 | 13.9 | 2.6 | 20.4 | 1.1 | 2.4 | 0.3 | 11 | 2.9 | 1.5 | — | |
| TPVFormerCamera-based=true2026.02 | 55.1 | — | 34.25 | 27.2 | 27.4 | 6.5 | 14.8 | 1,920 | 370 | 100 | 50 | 230 | 13.9 | 2.6 | 20.4 | 110 | 240 | 30 | 11 | 2.9 | 1.5 | 11.26 | |
| MonoScenereproduced=true2024.05 | 54.7 | 0.1108 | 34.16 | 27.1 | 24.8 | 5.7 | 14.4 | 18.8 | 3.3 | 0.5 | 0.7 | 4.4 | 14.9 | 2.4 | 19.5 | 1 | 1.4 | 0.4 | 11.1 | 3.3 | 2.1 | — | |
| MonoSceneSetting=Single-frame, Date=CVPR20232026.04 | 54.7 | — | 34.16 | 27.1 | 24.8 | 5.7 | 14.4 | 18.8 | 3.3 | 0.5 | 0.7 | 4.4 | 14.9 | 2.4 | 19.5 | 1 | 1.4 | 0.4 | 11.1 | 3.3 | 2.1 | 11.08 | |
| HASSCvariant=S2024.05 | 54.6 | 0.1334 | 43.4 | 27.7 | 23.8 | 6.2 | 21.1 | 22.8 | 4.7 | 1.6 | 1 | 3.9 | 23.8 | 8.5 | 23.3 | 1.6 | 4 | 0.3 | 13.1 | 5.8 | 5.5 | — | |
| VoxFormervariant=T2024.05 | 54.1 | 0.1341 | 43.21 | 26.9 | 25.1 | 7.3 | 23.5 | 21.7 | 3.6 | 1.9 | 1.6 | 4.1 | 24.4 | 8.1 | 24.2 | 1.6 | 1.1 | 0 | 13.1 | 6.6 | 5.7 | — | |
| IAMSSC2024.05 | 54 | 0.1237 | 43.74 | 25.5 | 24.7 | 6.9 | 19.2 | 21.3 | 3.8 | 1.1 | 0.6 | 3.9 | 22.7 | 5.8 | 19.4 | 1.5 | 2.9 | 0.5 | 11.9 | 5.3 | 4.1 | — | |
| VoxFormervariant=S2024.05 | 53.9 | 0.122 | 42.95 | 25.3 | 21.1 | 5.6 | 19.8 | 20.8 | 3.5 | 1 | 0.7 | 3.7 | 22.4 | 7.5 | 21.3 | 1.4 | 2.6 | 0.2 | 11.1 | 5.1 | 4.9 | — | |
| AICNetInput=RGB, DEPTH, stereo-adapted=true2023.02 | — | 0.068 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| JS3CNetInput=PTS, stereo-adapted=true2023.02 | — | 0.091 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LMSCNetInput=OCC, stereo-adapted=true2023.02 | — | 0.058 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MonoSceneInput=RGB, stereo-adapted=false2023.02 | — | 0.1108 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MonoSceneInput=Stereo RGB, stereo-adapted=true2023.02 | — | 0.1357 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OccDepthInput=Stereo RGB2023.02 | — | 0.159 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — |