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3D Semantic Occupancy Prediction on nuScenes 1.0 (val)

21.39IoU (barrier)

GaussianFormer-2

Updated 1mo ago

Evaluation Results

Method
GaussianFormer-2 2024.12	21.39	31.74	20.82	13.44	28.49	30.82	10.92	15.84	13.55	10.53	14.04	22.92	40.61	24.36	26.08	24.27	13.83	21.98	-	-
GaussianWorld 2024.12	21.38	33.4	22.13	1,412	27.71	31.84	13.66	1,743	13.66	1,146	15.09	23.94	42.98	24.86	28.84	26.74	15.69	24.74	-	-
GaussianFormer-T 2024.12	20.82	31.34	20.42	1,207	26.89	30.94	10.52	1,648	13.15	1,046	12.9	21.79	41.13	24.22	26.29	24.89	12.8	21.45	-	-
VG3S 2026.03	20.78	-	-	12.4	28.09	29.53	11.93	15.59	12.38	10.61	14.65	21.74	42.42	26.39	28.06	26.58	17.46	25.76	34.41	21.52
SurroundOcc 2024.12	20.59	31.49	20.3	11.68	28.06	30.86	10.7	15.14	14.09	12.06	14.38	22.26	37.29	23.7	24.49	22.77	14.89	21.86	-	-
SurroundOcc 2024.12	20.59	31.49	20.3	1,168	28.06	30.86	10.7	1,514	14.09	1,206	14.38	22.26	37.29	23.7	24.49	22.77	14.89	21.86	-	-
SurroundOcc 2026.03	20.59	-	-	11.68	28.06	30.86	10.7	15.14	14.09	12.06	14.38	22.26	37.29	23.7	24.49	22.77	14.89	21.86	31.49	20.3
GaussianFormer-2 2024.12	20.15	30.56	20.02	12.99	27.61	30.23	11.19	15.31	12.64	9.63	13.31	22.26	39.68	23.47	25.62	23.2	12.25	20.73	-	-
GaussianFormer-2 2026.03	20.15	-	-	12.99	27.61	30.23	11.19	15.31	12.64	9.63	13.31	22.26	39.68	23.47	25.62	23.2	12.25	20.73	30.56	20.02
GaussianFormer 2024.12	19.52	29.83	19.1	11.26	26.11	29.78	10.47	13.83	12.58	8.67	12.74	21.57	39.63	23.28	24.46	22.99	9.59	19.12	-	-
GaussianFormer 2024.12	19.52	29.83	19.1	1,126	26.11	29.78	10.47	1,383	12.58	867	12.74	21.57	39.63	23.28	24.46	22.99	9.59	19.12	-	-
GaussianFormer 2026.03	19.52	-	-	11.26	26.11	29.78	10.47	13.83	12.58	8.67	12.74	21.57	39.63	23.28	24.46	22.99	9.59	19.12	29.83	19.1
GaussianFormer-B 2024.12	19.36	30.68	19.73	1,319	26.9	29.79	10.2	1,517	12.55	929	12.96	21.45	39.55	23.03	25.07	23.65	12.35	21.18	-	-
OccFormer 2024.12	18.65	31.39	19.03	10.41	23.92	30.29	10.31	14.19	13.59	10.13	12.49	20.77	38.78	19.79	24.19	22.21	13.48	21.35	-	-
OccFormer 2024.12	18.65	31.39	19.03	1,041	23.92	30.29	10.31	1,419	13.59	1,013	12.49	20.77	38.78	19.79	24.19	22.21	13.48	21.35	-	-
OccFormer 2026.03	18.65	-	-	10.41	23.92	30.29	10.31	14.19	13.59	10.13	12.49	20.77	38.78	19.79	24.19	22.21	13.48	21.35	31.39	19.03
TPVFormer 2024.12	16.14	11.51	11.66	7.17	22.63	17.13	8.83	11.39	10.46	8.23	9.43	17.02	8.07	13.64	13.85	10.34	4.9	7.37	-	-
TPVFormer 2024.12	16.14	11.51	11.66	717	22.63	17.13	8.83	1,139	10.46	823	9.43	17.02	8.07	13.64	13.85	10.34	4.9	7.37	-	-
TPVFormer 2026.03	16.14	-	-	7.17	22.63	17.13	8.83	11.39	10.46	8.23	9.43	17.02	8.07	13.64	13.85	10.34	4.9	7.37	11.51	11.66
TPVFormer 2024.12	15.96	30.86	17.1	5.31	23.86	27.32	9.79	8.74	7.09	5.2	10.97	19.22	38.87	21.25	24.26	23.15	11.73	20.81	-	-
TPVFormer* 2024.12	15.96	30.86	17.1	531	23.86	27.32	9.79	874	7.09	520	10.97	19.22	38.87	21.25	24.26	23.15	11.73	20.81	-	-
TPVFormer 2026.03	15.96	-	-	5.31	23.86	27.32	9.79	8.74	7.09	5.2	10.97	19.22	38.87	21.25	24.26	23.15	11.73	20.81	30.86	17.1
BEVFormer 2024.12	14.22	30.5	16.75	6.58	23.46	28.28	8.66	10.77	6.64	4.05	11.2	17.78	37.28	18	22.88	22.17	13.8	22.21	-	-
BEVFormer 2024.12	14.22	30.5	16.75	658	23.46	28.28	8.66	1,077	6.64	405	11.2	17.78	37.28	18	22.88	22.17	13.8	22.21	-	-
BEVFormer 2026.03	14.22	-	-	6.58	23.46	28.28	8.66	10.77	6.64	4.05	11.2	17.78	37.28	18	22.88	22.17	13.8	22.21	30.5	16.75
Atlas 2024.12	10.64	28.66	15	5.68	19.66	24.94	8.9	8.84	6.47	3.28	10.42	16.21	34.86	15.46	21.89	20.95	11.21	20.54	-	-
Atlas 2024.12	10.64	28.66	15	568	19.66	24.94	8.9	884	6.47	328	10.42	16.21	34.86	15.46	21.89	20.95	11.21	20.54	-	-
Atlas 2026.03	10.64	-	-	5.68	19.66	24.94	8.9	8.84	6.47	3.28	10.42	16.21	34.86	15.46	21.89	20.95	11.21	20.54	28.66	15
MonoScene 2024.12	4.03	23.96	7.31	0.35	8	8.04	2.9	0.28	1.16	0.67	4.01	4.35	27.72	5.2	15.13	11.29	9.03	14.86	-	-
MonoScene 2024.12	4.03	23.96	7.31	35	8	8.04	2.9	28	1.16	67	4.01	4.35	27.72	5.2	15.13	11.29	9.03	14.86	-	-
MonoScene 2026.03	4.03	-	-	0.35	8	8.04	2.9	0.28	1.16	0.67	4.01	4.35	27.72	5.2	15.13	11.29	9.03	14.86	23.96	7.31