Our new X account is live! Follow @wizwand_team for updates

3D Semantic Occupancy Prediction on SurroundOcc (val)

28.9mIoU

GaussianOcc3D

Updated 4d ago

Evaluation Results

Method
GaussianOcc3D 2026.01	28.9	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
GaussianOcc3D 2026.01	28.9	-	-	28.7	1,680	34.8	38.5	19.8	2,310	25.7	1,390	22.7	30.9	43.3	25.3	29.1	30.1	34.7	45.1
Co-Occ 2026.01	27.1	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
GaussianFormer3D 2026.01	27.1	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
Co-Occ 2026.01	27.1	-	-	28.1	1,610	34	37.2	17	2,160	20.8	1,590	21.9	28.7	42.3	25.4	29.1	28.6	28.2	38
GaussianFormer3D 2026.01	27.1	-	-	26.9	1,580	32.7	36.1	18.6	2,170	24.1	1,300	21.3	29	40.6	23.7	27.3	28.2	32.6	42.3
OccFusion 2026.01	26.8	-	-	26.6	1,830	32.9	35.8	19.3	2,210	24.4	1,770	21.4	29.6	39	21.9	24.9	26.7	28.5	40
GaussianOcc3D 2026.01	26.1	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
M-CONet 2026.01	24.7	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
M-CONet 2026.01	24.7	-	-	24.8	1,300	31.6	34.8	14.6	1,800	20	1,470	20	26.6	39.2	22.8	26.1	26	26	37.1
GaussianFormer3D 2026.01	24.2	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
GaussianFormer-2 2026.01	20.8	-	-	21.4	1,340	28.5	30.8	10.9	1,580	13.6	1,050	14	22.9	40.6	24.4	26.1	24.3	13.8	22
GaussianFormer-2 2026.01	20.3	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
SurroundOcc 2026.01	20.3	-	-	20.6	1,170	28.1	30.9	10.7	1,510	14.1	1,210	14.4	22.3	37.3	23.7	24.5	22.8	14.9	21.9
GaussianFormer-2 2026.01	19.9	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
GaussianFormer-2 2026.01	19.9	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
FB-Occ 2026.01	19.6	-	-	20.6	1,130	26.9	29.8	10.4	1,360	13.7	1,140	11.5	20.6	38.2	21.5	24.6	22.7	14.8	21.6
GaussianFormer 2026.01	19.1	-	-	19.5	1,130	26.1	29.8	10.5	1,380	12.6	870	12.7	21.6	39.6	23.3	24.5	23	9.6	19.1
OccFormer 2026.01	19	-	-	18.7	1,040	23.9	30.3	10.3	1,420	13.6	1,010	12.5	20.8	38.8	19.8	24.2	22.2	13.5	21.4
C-CONet 2026.01	18.4	-	-	18.6	1,000	26.4	27.4	8.6	1,570	13.3	970	10.9	20.2	33	20.7	21.4	21.8	14.7	21.3
L-CONet 2026.01	17.7	-	-	19.2	400	15.1	26.9	6.2	380	6.8	600	14.1	13.1	39.7	19.1	24	23.9	25.1	35.7
TPVFormer 2026.01	17.1	-	-	16	530	23.9	27.3	9.8	870	7.1	520	11	19.2	38.9	21.3	24.3	23.2	11.7	20.8
BEVFormer 2026.01	16.8	-	-	14.2	660	23.5	28.3	8.7	1,080	6.6	410	11.2	17.8	37.3	18	22.9	22.2	13.8	22.2
LMSCNet 2026.01	14.9	-	-	13.1	450	14.7	22.1	12.6	420	7.2	710	12.2	11.5	26.3	14.3	21.1	15.2	18.5	34.2
MonoScene 2026.01	7.3	-	-	4	40	8	8	2.9	30	1.2	70	4	4.4	27.7	5.2	15.1	11.3	9	14.9
ALOcc-GF 2025.04	0.255	0.225	0.382	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
ALOcc* 2025.04	0.24	0.217	0.347	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
ALOcc-mini-GF 2025.04	0.231	0.203	0.346	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
GaussianWorld 2025.04	0.221	0.197	0.334	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
ALOcc-mini* 2025.04	0.215	0.195	0.315	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
BEVDetOcc-GF 2025.04	0.208	0.162	0.353	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
SurroundOcc 2025.04	0.203	0.184	0.315	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
GaussianFormer 2025.04	0.191	0.173	0.298	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
BEVDetOcc 2025.04	0.175	0.141	0.292	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
TPVFormer 2025.04	0.171	0.14	0.309	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
BEVFormer 2025.04	0.168	0.142	0.305	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-