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Semantic Occupancy Prediction on Occ3D (val)

49.4mIoU

GaussianOcc3D

Updated 4d ago

Evaluation Results

Method	Links
GaussianOcc3D 2026.01		49.4	12.5	54.2	34.5	56.4	59.7	32.4	43.7	48.6	32.7	40.8	49.5	81.1	40.3	54.1	60.9	69.7	69.5
GaussianOcc3D 2026.01		49.4	12.5	54.2	34.5	56.4	59.7	32.4	43.7	48.6	32.7	40.8	49.5	81.1	40.3	54.1	60.9	69.7	69.5
OccFusion 2026.01		48.7	12.4	51.8	33	54.6	57.7	34	43	48.4	35.5	41.2	48.6	83	44.7	57.1	60	62.5	61.3
OccFusion 2026.01		48.7	12.4	51.8	33	54.6	57.7	34	43	48.4	35.5	41.2	48.6	83	44.7	57.1	60	62.5	61.3
GaussianFormer3D 2026.01		46.4	9.8	50	31.3	54	59.4	28.1	36.2	46.2	26.7	40.2	49.7	79.1	37.3	49	55	69.1	67.6
GaussianFormer3D 2026.01		46.4	9.8	50	31.3	54	59.4	28.1	36.2	46.2	26.7	40.2	49.7	79.1	37.3	49	55	69.1	67.6
COTR 2026.01		44.5	13.3	52.1	32	46	55.6	32.6	32.8	30.4	34.1	37.7	41.8	84.5	46.2	57.6	60.7	52	46.3
COTR 2026.01		44.5	13.3	52.1	32	46	55.6	32.6	32.8	30.4	34.1	37.7	41.8	84.5	46.2	57.6	60.7	52	46.3
PanoOcc 2026.01		42.1	11.7	50.5	29.6	49.4	55.5	23.3	33.3	30.6	31	34.4	42.6	83.3	44.2	54.4	56	45.9	40.4
FB-Occ 2026.01		42.1	14.3	49.7	30	46.6	51.5	29.3	29.1	29.4	30.5	35	39.4	83.1	47.2	55.6	59.9	44.9	39.6
PanoOcc 2026.01		42.1	11.7	50.5	29.6	49.4	55.5	23.3	33.3	30.6	31	34.4	42.6	83.3	44.2	54.4	56	45.9	40.4
FB-Occ 2026.01		42.1	14.3	49.7	30	46.6	51.5	29.3	29.1	29.4	30.5	35	39.4	83.1	47.2	55.6	59.9	44.9	39.6
BEVDet-Occ+VisionPAD 2024.11		42	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
BEVFormer 2024.11		39.3	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
BEVDet-Occ 2024.11		39.3	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
BEVDet4D 2026.01		39.3	9.3	47.1	19.2	41.5	52.2	27.2	21.2	23.3	21.6	35.8	38.9	82.5	40.4	53.8	57.7	49.9	45.8
BEVDet4D 2026.01		39.3	9.3	47.1	19.2	41.5	52.2	27.2	21.2	23.3	21.6	35.8	38.9	82.5	40.4	53.8	57.7	49.9	45.8
FB-Occ 2024.11		39.1	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
OPUS 2024.11		36.2	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
GaussianFormer 2026.01		35.5	8.8	40.9	23.3	42.9	49.7	19.2	24.8	24.4	22.5	29.4	35.3	79	36.9	46.6	48.2	38.8	33.1
GaussianFormer 2026.01		35.5	8.8	40.9	23.3	42.9	49.7	19.2	24.8	24.4	22.5	29.4	35.3	79	36.9	46.6	48.2	38.8	33.1
UVTR+VisionPAD 2024.11		35.4	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
TPVFormer 2024.11		34.2	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
UVTR+UniPAD 2024.11		31	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
SparseOcc 2024.11		30.6	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
UVTR+ 2024.11		30.1	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
TPVFormer 2026.01		28.3	6.7	39.2	14.2	41.5	47	19.2	22.6	17.9	14.5	30.2	35.5	56.2	33.7	35.7	31.6	20	16.1
TPVFormer 2026.01		28.3	6.7	39.2	14.2	41.5	47	19.2	22.6	17.9	14.5	30.2	35.5	56.2	33.7	35.7	31.6	20	16.1
RenderOcc 2026.01		26.1	4.8	31.7	10.7	27.7	26.5	13.9	18.2	17.7	17.8	21.2	23.3	63.2	36.4	46.2	44.3	19.6	20.7
RenderOcc 2026.01		26.1	4.8	31.7	10.7	27.7	26.5	13.9	18.2	17.7	17.8	21.2	23.3	63.2	36.4	46.2	44.3	19.6	20.7
RenderOcc 2024.11		24.5	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
BEVFormer 2026.01		23.7	5	38.8	10	34.4	41.1	13.2	16.5	18.2	17.8	18.7	27.7	49	27.7	29.1	25.4	15.4	14.5
BEVFormer 2026.01		23.7	5	38.8	10	34.4	41.1	13.2	16.5	18.2	17.8	18.7	27.7	49	27.7	29.1	25.4	15.4	14.5
BEVDet 2026.01		11.7	2.1	15.3	0	4.2	13	1.4	0	0.4	0.13	6.6	6.7	52.7	19	26.5	21.8	14.5	15.3
BEVDet 2026.01		11.7	2.1	15.3	0	4.2	13	1.4	0	0.4	0.13	6.6	6.7	52.7	19	26.5	21.8	14.5	15.3
MonoScene 2026.01		6.1	1.8	7.2	4.3	4.9	9.4	5.7	4	3	5.9	4.5	7.2	14.9	6.3	7.9	7.4	1	7.7
MonoScene 2026.01		6.1	1.8	7.2	4.3	4.9	9.4	5.7	4	3	5.9	4.5	7.2	14.9	6.3	7.9	7.4	1	7.7