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3D Semantic Occupancy Prediction on SurroundOcc-nuScenes night scenario (val)

19.67mIoU (Mean IoU)

TFusionOcc

Updated 1mo ago

Evaluation Results

Method
TFusionOcc 2026.02	19.67	44.97	17.98	19.96	40.69	23.3	14.76	3.85	34.49	38.35	3.43	19.7	22.42	31.95	43.79
TFusionOcc 2026.02	19.07	44.82	16.81	15.53	40.36	21.27	13.33	3.79	34.89	38.04	3.92	19.86	21.89	31.67	43.72
TFusionOcc 2026.02	18.95	43.86	17.1	16.09	40.17	23.21	15.13	2.97	33.83	36.18	3.75	20.12	20.48	31.3	42.94
TFusionOcc 2026.02	18.81	44.74	16.01	17.51	39.84	23.82	12.76	1.13	32.79	37.67	3.48	19.7	21.42	31.41	43.4
GaussianFusionOcc 2026.02	18.66	42.78	16.09	12.27	39.82	27.66	13.68	0.07	38.25	40.1	2.07	19.64	19.82	29.55	39.61
DAOcc 2026.02	18.53	42.85	17.18	15.07	39.05	25.77	14.7	0.07	32.51	33.95	4.02	19.78	22.58	30.91	40.87
GaussianFusionOcc 2026.02	18.45	42.51	12.15	11.47	39.77	29.58	15.27	0.04	37.08	37.13	2.58	19.94	20.63	29.42	40.1
TFusionOcc 2026.02	17.83	43.25	14.12	10.1	38.45	21.99	13.1	1.16	32.05	34.6	4.61	18.91	23.14	30.76	42.35
OccCylindrical 2026.02	17.79	43.38	16.19	10.04	37.84	25.63	13.28	0.23	32.93	39.59	3.89	17.89	21.61	26.99	38.47
OccFusion 2026.02	16.61	41.01	15.7	16.26	38.09	22.18	13.24	0.08	25.92	33.15	1.57	16.08	21.09	24.51	37.83
GaussianOcc3D 2026.01	15.9	-	13.9	14.8	35.9	15.1	14.5	150	23.4	34.7	1.6	15.3	20.4	23.2	39.3
OccFusion 2026.02	15.87	40.87	13.28	17.53	36.42	16.16	11.37	1.42	25.71	32.64	0.63	16.06	20.87	24.52	37.27
OccFusion 2026.01	15.2	-	12.7	13.5	35.8	15.3	13.1	80	23.7	32.4	0.9	14.2	20.5	23.5	37.1
Co-Occ 2026.02	14.6	35.6	8.4	16.4	37.2	13.8	10.9	0.4	24.3	36.4	2.2	14.6	17	19.9	31.7
Inverse++ 2026.02	10.93	23.7	8.87	10.19	32.62	11.77	7.46	0.72	22.2	32.95	2.15	13.01	9.79	8.61	14.48
SurroundOcc 2026.02	10.8	24.38	10.55	14.6	31.05	8.26	5.37	0.58	18.75	30.72	2.74	12.39	11.53	10.52	15.77
SurroundOcc 2026.01	10.8	-	10.55	14.6	31.05	8.26	5.37	58	18.75	30.72	2.74	12.39	11.53	10.52	15.77
GaussianFormer2-256 2026.02	10.14	21.19	5.25	9.29	29.33	13.65	5.8	0.9	20.22	31.8	1.94	14.83	10.48	5.96	12.72
InverseMatrixVT3D 2026.02	9.99	22.48	10.4	12.03	29.94	9.92	4.88	0.91	17.79	29.1	2.37	10.8	9.4	8.68	13.57
OccFusion 2026.01	9.99	-	10.4	12.03	29.94	9.92	4.88	91	17.79	29.1	2.37	10.8	9.4	8.68	13.57
Co-Occ 2026.02	9.4	18.9	4.5	9.3	29.5	8.4	3.5	0	15.1	29.4	0.6	12.4	11.5	10.7	15.5
GaussianFormer 2026.02	9.07	20.3	6.11	8.7	25.75	10.44	2.85	0.55	17.26	30.65	2.95	12.53	9.94	6.65	10.71