Semantic Scene Completion on SSCBench-KITTI-360 (test)

53.58IoUSSCNet

Evaluation results

Method
SSCNet2023.06	53.58	69.63	69.92	16.95	31.95	0	0.17	10.29	0	0.07	65.7	17.33	41.24	3.22	44.41	6.77	43.72	28.87	0.78	0.75	8.69	0.67	—	—	—
SSCNet2024.05	53.58	—	—	16.95	17.33	7	41.24	65.7	3.22	28.87	31.95	17	0	10.29	0	8.69	44.41	43.72	6.77	67	—	—	—	78	75
SSCNet2024.05	53.58	—	—	16.95	0	31.95	17	10.29	0	7	65.7	17.33	41.24	3.22	44.41	6.77	43.72	28.87	—	78	75	8.69	67	—	—
VOIC2025.12	48.18	—	—	21.37	440	30.9	720	21	9.8	840	62.6	11.9	41.3	6.1	43.5	11	38.9	22.7	—	17.2	20.1	11.9	9.2	—	—
CGFormer2024.05	48.07	—	—	20.05	17.15	663	40.72	63.85	5.53	24.94	29.85	396	3.42	17.59	6.79	10.18	42.73	38.8	8.22	677	—	—	—	1,624	1,745
CGFormer2024.05	48.07	—	—	20.05	3.42	29.85	396	17.59	6.79	663	63.85	17.15	40.72	5.53	42.73	8.22	38.8	24.94	—	1,624	1,745	10.18	677	—	—
CGFormer2025.12	48.07	—	—	20.05	342	29.85	396	17.59	6.79	663	63.85	17.15	40.72	5.53	42.73	8.22	38.8	24.94	—	16.24	17.45	10.18	6.77	—	—
LMSCNet2023.06	47.35	72.77	57.55	13.65	20.91	0	0	0.26	0.58	0	62.95	13.51	33.51	0.2	43.67	0.33	40.01	26.8	0	0	3.63	0	—	—	—
LMSCNet2024.05	47.35	—	—	13.65	13.51	0	33.51	62.95	0.2	26.8	20.91	0	0	0.26	0.58	3.63	43.67	40.01	0.33	0	—	—	—	0	0
LMSCNet2024.05	47.35	—	—	13.65	0	20.91	0	0.26	0.58	0	62.95	13.51	33.51	0.2	43.67	0.33	40.01	26.8	—	0	0	3.63	0	—	—
VoxSAMNet2026.04	47.22	—	—	20.21	3.3	29.2	4.3	19.6	7.7	7	61.9	18.9	39.9	5.2	42.2	7.6	38.7	24.9	—	16.5	20.6	9	7.2	—	—
SGNT2025.12	47.06	—	—	18.25	340	29	290	10.9	5.2	300	58.1	15	36.4	4.4	42	7.7	38.2	23.2	—	16.7	16.4	9.9	5.8	—	—
LOMA2026.04	46.35	—	—	18.28	2.6	27.6	3.6	11.5	7.5	5.5	58.6	15.8	37.5	4.8	41.2	8.4	37.7	20.3	—	14.6	16.4	9	6.5	—	—
VLScene2026.04	46.08	—	—	19.1	4.7	29	7.7	18.3	7.6	7.4	60.1	17.4	39	6	42.1	9.6	36.5	24.8	—	17	18.8	10.5	6.5	—	—
MixSSC2026.04	45.33	—	—	17.15	3.6	26.3	4.5	14.8	5.4	5.8	57.9	13.6	35.2	3.6	37.9	7	35.2	22.1	—	11.4	12.8	6.56	5	—	—
Symphonies2023.06	44.12	69.24	54.88	18.58	30.02	1.85	5.9	25.07	12.06	8.2	54.94	13.83	32.76	6.93	35.11	8.58	38.33	11.52	14.01	9.57	14.44	11.28	—	—	—
Symphonies2024.05	44.12	—	—	18.58	13.83	820	32.76	54.94	6.93	11.52	30.02	590	1.85	25.07	12.06	14.44	35.11	38.33	8.58	1,128	—	—	—	1,401	957
Symphonies2024.05	44.12	—	—	18.58	1.85	30.02	590	25.07	12.06	820	54.94	13.83	32.76	6.93	35.11	8.58	38.33	11.52	—	1,401	957	14.44	1,128	—	—
Symphonies2025.12	44.12	—	—	18.58	190	30	590	25.1	12.1	820	54.9	13.8	32.8	6.9	35.1	8.6	38.3	11.5	—	14	9.6	14.4	11.3	—	—
Symphonies2026.04	44.12	—	—	18.58	1.9	30	5.9	25.1	12.1	8.2	54.9	13.8	32.8	6.9	35.1	8.6	38.3	11.5	—	14	9.6	14.4	11.3	—	—
IAMSSC2024.05	41.8	—	—	12.97	10.56	309	28.35	47.55	4.12	15.24	18.53	176	2.45	5.12	3.92	6.35	31.53	29.17	6.28	419	—	—	—	829	701
IAMSSC2024.05	41.8	—	—	12.97	2.45	18.53	176	5.12	3.92	309	47.55	10.56	28.35	4.12	31.53	6.28	29.17	15.24	—	829	701	6.35	419	—	—
DepthSSC2024.05	40.85	—	—	14.28	12.89	292	30.27	50.88	2.49	21.59	21.9	430	2.36	11.51	4.56	5.24	37.33	29.61	5.22	351	—	—	—	597	771
DepthSSC2024.05	40.85	—	—	14.28	2.36	21.9	430	11.51	4.56	292	50.88	12.89	30.27	2.49	37.33	5.22	29.61	21.59	—	597	771	5.24	351	—	—
OccFormer2023.06	40.27	59.7	55.31	13.81	22.58	0.66	0.26	9.89	3.82	2.77	54.3	13.44	31.53	3.55	36.42	4.8	31	19.51	7.77	8.51	6.95	4.6	—	—	—
OccFormer2024.05	40.27	—	—	13.81	13.44	277	31.53	54.3	3.55	19.51	22.58	26	0.66	9.89	3.82	6.95	36.42	31	4.8	460	—	—	—	777	851
OccFormer2024.05	40.27	—	—	13.81	0.66	22.58	26	9.89	3.82	277	54.3	13.44	31.53	3.55	36.42	4.8	31	19.51	—	777	851	6.95	460	—	—
OccFormer2025.12	40.27	—	—	13.81	70	22.6	30	9.9	3.8	280	54.3	13.4	31.5	3.6	36.4	4.8	31	19.5	—	7.8	8.5	7	4.6	—	—
OccFormer2026.04	40.27	—	—	13.81	0.7	22.6	0.3	9.9	3.8	2.8	54.3	13.4	31.5	3.6	36.4	4.8	31	19.5	—	7.8	8.5	7	4.6	—	—
TPVFormer2023.06	40.22	59.32	55.54	13.64	21.56	1.09	1.37	8.06	2.57	2.38	52.99	11.99	31.07	3.78	34.83	4.8	30.08	17.52	7.46	5.86	5.48	2.7	—	—	—
TPVFormer2024.05	40.22	—	—	13.64	11.99	238	31.07	52.99	3.78	17.52	21.56	137	1.09	8.06	2.57	5.48	34.83	30.08	4.8	270	—	—	—	746	586
TPVFormer2024.05	40.22	—	—	13.64	1.09	21.56	137	8.06	2.57	238	52.99	11.99	31.07	3.78	34.83	4.8	30.08	17.52	—	746	586	5.48	270	—	—
TPVFormer2025.12	40.22	—	—	13.64	110	21.6	140	8.1	2.6	240	53	12	31.1	3.8	34.8	4.8	30.1	17.5	—	7.5	5.9	5.5	2.7	—	—
VoxFormer2023.06	38.76	58.52	53.44	11.91	17.84	1.16	0.89	4.56	2.06	1.63	47.01	9.67	27.21	2.89	31.18	4.97	28.99	14.69	6.51	6.92	3.79	2.43	—	—	—
VoxFormer2024.05	38.76	—	—	11.91	9.67	163	27.21	47.01	2.89	14.69	17.84	89	1.16	4.56	2.06	3.79	31.18	28.99	4.97	243	—	—	—	651	692
VoxFormer2024.05	38.76	—	—	11.91	1.16	17.84	89	4.56	2.06	163	47.01	9.67	27.21	2.89	31.18	4.97	28.99	14.69	—	651	692	3.79	243	—	—
VoxFormer2025.12	38.76	—	—	11.91	120	17.8	90	4.6	2.1	160	47	9.7	27.2	2.9	31.2	5	29	14.7	—	6.5	6.9	3.8	2.4	—	—
VoxFormer2026.04	38.76	—	—	11.91	1.2	17.8	0.9	4.6	2.1	1.6	47	9.7	27.2	2.9	31.4	5	29	14.7	—	6.5	6.9	3.8	2.4	—	—
MonoScene2023.06	37.87	56.73	53.26	12.31	19.34	0.43	0.58	8.02	2.03	0.86	48.35	11.38	28.13	3.32	32.89	3.53	26.15	16.75	6.92	5.67	4.2	3.09	—	—	—
MonoScene2024.05	37.87	—	—	12.31	11.38	86	28.13	48.35	3.32	16.75	19.34	58	0.43	8.02	2.03	4.2	32.89	26.15	3.53	309	—	—	—	692	567
MonoScene2024.05	37.87	—	—	12.31	0.43	19.34	58	8.02	2.03	86	48.35	11.38	28.13	3.32	32.89	3.53	26.15	16.75	—	692	567	4.2	309	—	—
MonoScene2025.12	37.87	—	—	12.31	40	19.3	60	8	2	90	48.4	11.4	28.1	3.2	32.9	3.5	26.2	16.8	—	6.9	5.7	4.2	3.1	—	—
MonoScene2026.04	37.87	—	—	12.31	0.4	19.3	0.6	8	2	0.9	48.4	11.4	28.1	3.3	32.9	3.5	26.2	16.8	—	6.9	5.7	4.2	3.1	—	—