3D Semantic Occupancy Prediction

Benchmarks

Dataset Name	SOTA Method	Metric
SemanticKITTI (val)	SemCity	mIoU84.65	59	18d ago
SurroundOcc-nuScenes (val)	Gau-Occ	mIoU32.7	59	3mo ago
Occ3D-nuScenes v1.0 (val)	AutoOcc	mIoU83	54	24d ago
Occ3D	ALOcc-GF	RayIoU51.8	52	2mo ago
nuScenes-Occupancy (val)	UnsOcc	mIoU28.1	51	18d ago
SurroundOcc (val)	GaussianOcc3D	mIoU28.9	43	1mo ago
nuScenes 1.0 (val)	GaussianFormer-2	IoU (barrier)21.39	31	4mo ago
SurroundOcc-nuScenes rainy scenario (val)	TFusionOcc	mIoU30.82	26	4mo ago
OpenOccupancy	ALOcc-2D-GF	mIoU24.5	26	1mo ago
SSCBench-KITTI-360 (test)	SSCNet	Overall IoU53.58	24	3mo ago
nuScenes	SurroundOcc	mIoU20.3	22	1mo ago
SurroundOcc-nuScenes night scenario (val)	TFusionOcc	mIoU (Mean IoU)19.67	22	4mo ago
SurroundOcc v1.0 (test)	SuperOcc-L	IoU38.13	15	5mo ago
nuScenes (val)	Gau-Occ	IoU44.3	15	1mo ago
Occ3D-nuScenes (val)	FDR-Occ	Overall mIoU42.2	13	18d ago
nuScenes-C Camera Corruption v1.0 (val)	TFusionOcc	Clean Score47.01	12	5mo ago
nuScenes-OpenOccupancy (val)	OccMamba + WeatherOcc3D	Mean IoU26.3	11	2mo ago
KITTI-360 (val)	Gau-Occ	IoU58.9	11	4mo ago
SurroundOcc-nuScenes v1.0 (val)	VGGT-Occ	Overall IoU33.64	10	2mo ago
OpenOccupancy (val)	GaussianOcc3D	mIoU25.3	10	4mo ago
nuScenes-C Lidar Corruption	DAOcc	mIoU (Clean)27.73	10	4mo ago
SemanticKITTI sequence	OccAny	mIoU7.28	9	4mo ago
EmbodiedScan	Occ-VLM	mIoU18.41	8	1mo ago
Open-pit Mine Dataset (test)	CGformer	Driveable Surface IoU61.07	8	1mo ago
Sidewalk3D (test)		Overall IoU88.98	7	1mo ago

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