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Papers Benchmarks Datasets Tasks

3D Occupancy Prediction research benchmarks · SOTA2 Research

3D Occupancy Prediction

Benchmarks

Dataset NameSOTA MethodSort

Dataset NameSOTA methodMetricTrendResultsLast Updated

Occ3D-nuScenes (val)

TFusionOcc (T-SQ-IW-25600)

5,335mIoU

215

Jun 29, 2026

47.37Mean IoU

36

Jun 23, 2026

Occ3D Waymo (val)

45.13mIoU

24

Jul 7, 2026

30.4mIoU

23

Jun 23, 2026

Occ3D-nuScenes geographically disjoint (val)

Fully Supervised

26.83mIoU

18

Mar 31, 2026

40.66IoU

12

May 1, 2026

Occ3D-NuScenes surround-view

34.15IoU

12

Mar 25, 2026

NuScenes SurroundOcc v1.0 (test)

25.2mIoU

12

Feb 26, 2026

K-Radar well-condition (test)

56.9IoU (12.8m)

10

Feb 26, 2026

44.3IoU (Ceiling)

10

Mar 17, 2026

Occ3D-NuScenes Sequence setting

51.25Precision

9

Mar 25, 2026

SemanticKITTI Sequence setting

43.38Precision

9

Mar 25, 2026

Occ3D-NuScenes (out-of-domain)

59.58Precision

9

Mar 25, 2026

45.5IoU

9

Feb 26, 2026

SemanticKITTI v1.0 (test)

37.14IoU

9

Feb 26, 2026

Occ3D-nuScenes v1.0 (val)

41.1RayIoU

7

Jun 23, 2026

SemanticKITTI OccNL, sequence 08, 90% noise (val)

35.03IoU

6

Mar 9, 2026

SemanticKITTI OccNL sequence 08 70% noise (val)

35.86IoU (Overall)

6

Mar 9, 2026

SemanticKITTI OccNL sequence 08 50% noise (val)

36.26IoU

6

Mar 9, 2026

36.7RayIoU

6

Feb 26, 2026

Occ3D CVPR2023 Occupancy Challenge

44.4mIoU

6

Feb 26, 2026

SemanticKITTI monocular

45.64Precision

5

Mar 25, 2026

Occ3D-NuScenes (in-domain)

45.19mIoU

5

Mar 25, 2026

Occ-ScanNet Local (mini)

59.85SC-IoU

5

Mar 17, 2026

27.71mIoU

5

Mar 13, 2026

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SemanticKITTI Occ3D-nuScenes Occ3D nuScenes KITTI-360

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