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3D Semantic Occupancy Prediction research benchmarks – Page 2 · SOTA2 Research

3D Semantic Occupancy Prediction

Benchmarks

Dataset NameSOTA MethodSort

Dataset NameSOTA methodMetricTrendResultsLast Updated

Semantic-OPV2V (test)

73.79IoU

6

Jul 3, 2026

OccNL Severe Noise 1.0 (test)

37.32IoU

6

Mar 9, 2026

OccNL Moderate Noise 1.0 (test)

37.41IoU

6

Mar 9, 2026

OccNL Mild Noise 1.0 (test)

37.25Overall IoU

6

Mar 9, 2026

RELLIS3D-WildOcc (test)

14.8mIoU

5

Feb 26, 2026

41.6IoU

4

Apr 2, 2026

nuCraft high-resolution

13.4Overall mIoU

4

Mar 19, 2026

SurroundOcc Night (val)

15.9mIoU

4

Feb 26, 2026

RELLIS3D-WildOcc (val)

GaussianFormer3D

29.5IoU

2

Feb 26, 2026

Page 2 of 2

Popular datasets

nuScenes SurroundOcc SurroundOcc-nuScenes OccNL SemanticKITTI

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