3D Semantic Segmentation on nuScenes Lidar-Seg (val)
80.6mIoUEPMF
Evaluation Results
| Method | Links | |||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| EPMFModality=Fusion-based, Test-time augmentation=false2021.06 | 80.6 | 79.7 | 55.8 | 96 | 92.4 | 65.6 | 86.4 | 80.9 | 74.3 | 68.1 | 87 | 97 | 75.6 | 76.2 | 76.3 | 90.2 | 88.1 | — | — | — | — | |
| SphereFormerModality=LiDAR-only, Test-time augmentation=true2021.06 | 79.5 | 78.7 | 46.7 | 95.2 | 93.7 | 54 | 88.9 | 81.1 | 68 | 74.2 | 86.2 | 97.2 | 74.3 | 76.3 | 75.8 | 91.4 | 89.7 | — | — | — | — | |
| 2DPASSModality=Fusion-based, Test-time augmentation=true2021.06 | 79.5 | 77 | 50.4 | 95.9 | 94.2 | 56 | 86 | 81.9 | 64.4 | 76.9 | 88.6 | 96.8 | 75.4 | 76.7 | 76.4 | 88.9 | 86.6 | — | — | — | — | |
| SpUNet+UniPADModality=L, Backbone=SpConv2023.10 | 79.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| WaffleIronModality=L, Backbone=Conv2D2023.10 | 79.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| WaffleIronModality=LiDAR-only, Test-time augmentation=true2021.06 | 79.1 | 79.8 | 53.8 | 94.3 | 87.6 | 49.6 | 89.1 | 83.8 | 70.6 | 72.7 | 84.9 | 97.1 | 75.8 | 76.5 | 75.9 | 87.8 | 86.3 | — | — | — | — | |
| 2D3DNetModality=Fusion-based, Test-time augmentation=false2021.06 | 79 | 78.3 | 55.1 | 95.4 | 87.7 | 59.4 | 79.3 | 80.7 | 70.2 | 68.2 | 86.6 | 96.1 | 74.9 | 75.7 | 75.1 | 91.4 | 89.9 | — | — | — | — | |
| PMF-R50Modality=Fusion-based, Test-time augmentation=false2021.06 | 79 | 74.9 | 55.4 | 91 | 93 | 60.5 | 80.3 | 83.2 | 73.6 | 67.2 | 84.5 | 95.9 | 75.1 | 74.6 | 75.5 | 90.3 | 89 | — | — | — | — | |
| SDSeg3DModality=LiDAR-only, Test-time augmentation=true2021.06 | 78.7 | 78.2 | 52.8 | 94.5 | 93.1 | 54.5 | 88.1 | 82.2 | 69.4 | 67.3 | 86.6 | 96.4 | 74.5 | 75.2 | 75.3 | 87.1 | 84.1 | — | — | — | — | |
| SphereFormerModality=L, Backbone=Transformer2023.10 | 78.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SphereFormerModality=LiDAR-only, Test-time augmentation=false2021.06 | 78.4 | 77.7 | 43.8 | 94.5 | 93.1 | 52.4 | 86.9 | 81.2 | 65.4 | 73.4 | 85.3 | 97 | 73.4 | 75.4 | 75 | 91 | 89.2 | — | — | — | — | |
| RangeFormerModality=L, Backbone=Transformer2023.10 | 78.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RangeFormerModality=LiDAR-only, Test-time augmentation=false2021.06 | 78.1 | 78 | 45.2 | 94 | 92.9 | 58.7 | 83.9 | 77.9 | 69.1 | 63.7 | 85.6 | 96.7 | 74.5 | 75.1 | 75.3 | 89.1 | 87.5 | — | — | — | — | |
| SDSeg3DModality=LiDAR-only, Test-time augmentation=false2021.06 | 77.7 | 77.5 | 49.4 | 93.9 | 92.5 | 54.9 | 86.7 | 80.1 | 67.8 | 65.7 | 86 | 96.4 | 74 | 74.9 | 74.5 | 86 | 82.8 | — | — | — | — | |
| RPVNetModality=LiDAR-only, Test-time augmentation=false2021.06 | 77.6 | 78.2 | 43.4 | 92.7 | 93.2 | 49 | 85.7 | 80.5 | 66 | 66.9 | 84 | 96.9 | 73.5 | 75.9 | 76 | 90.6 | 88.9 | — | — | — | — | |
| WaffleIronModality=LiDAR-only, Test-time augmentation=false2021.06 | 77.6 | 78.7 | 51.3 | 93.6 | 88.2 | 47.2 | 86.5 | 81.7 | 68.9 | 69.3 | 83.1 | 96.9 | 74.3 | 75.6 | 74.2 | 87.2 | 85.2 | — | — | — | — | |
| PMFModality=Fusion-based, Test-time augmentation=false2021.06 | 76.9 | 74.1 | 46.6 | 89.8 | 92.1 | 57 | 77.7 | 80.9 | 70.9 | 64.6 | 82.9 | 95.5 | 73.3 | 73.6 | 74.8 | 89.4 | 87.7 | — | — | — | — | |
| 2DPASSModality=Fusion-based, Test-time augmentation=false2021.06 | 76.4 | 74.4 | 44.3 | 93.6 | 92 | 54 | 79.7 | 78.9 | 57.2 | 72.5 | 85.7 | 96.2 | 72.7 | 74.1 | 74.5 | 87.5 | 85.4 | — | — | — | — | |
| Cylinder3DModality=L, Backbone=SpConv2023.10 | 76.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AMVNetModality=LiDAR-only, Test-time augmentation=false2021.06 | 76.1 | 79.8 | 32.4 | 82.2 | 86.4 | 62.5 | 81.9 | 75.3 | 72.3 | 83.5 | 65.1 | 97.4 | 67 | 78.8 | 74.6 | 90.8 | 87.9 | — | — | — | — | |
| Cylinder3DModality=LiDAR-only, Test-time augmentation=false2021.06 | 76.1 | 76.4 | 40.3 | 91.3 | 93.8 | 51.3 | 78 | 78.9 | 64.9 | 62.1 | 84.4 | 96.8 | 71.6 | 76.4 | 75.4 | 90.5 | 87.4 | — | — | — | — | |
| PVKDModality=LiDAR-only, Test-time augmentation=false2021.06 | 76 | 76.2 | 40 | 90.2 | 94 | 50.9 | 77.4 | 78.8 | 64.7 | 62 | 84.1 | 96.6 | 71.4 | 76.4 | 76.3 | 90.3 | 86.9 | — | — | — | — | |
| SVASegModality=LiDAR-only, Test-time augmentation=false2021.06 | 74.7 | 73.1 | 44.5 | 88.4 | 86.6 | 48.2 | 80.5 | 77.7 | 65.6 | 57.5 | 82.1 | 96.5 | 70.5 | 74.7 | 74.6 | 87.3 | 86.9 | — | — | — | — | |
| SpUNetModality=L, Backbone=SpConv2023.10 | 73.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SalsanextModality=LiDAR-only, Test-time augmentation=false2021.06 | 72.2 | 74.8 | 34.1 | 85.9 | 88.4 | 42.2 | 72.4 | 72.2 | 63.1 | 61.3 | 76.5 | 96 | 70.8 | 71.2 | 71.5 | 86.7 | 84.4 | — | — | — | — | |
| REPLBackbone=Cylinder3D2026.04 | 71.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 60 | 74.4 | 75 | 75.8 | |
| PolarNetModality=LiDAR-only, Test-time augmentation=false2021.06 | 71 | 74.7 | 28.2 | 85.3 | 90.9 | 35.1 | 77.5 | 71.3 | 58.8 | 57.4 | 76.1 | 96.5 | 71.1 | 74.7 | 74 | 87.3 | 85.7 | — | — | — | — | |
| Uni-modal baselineModality=LiDAR-only, Test-time augmentation=false2021.06 | 69.4 | 74.9 | 19.2 | 73.5 | 89.3 | 36.9 | 63.1 | 68.2 | 52 | 64.5 | 74.4 | 96.8 | 73 | 75.6 | 75.1 | 87.8 | 86 | — | — | — | — | |
| IT2Backbone=Cylinder3D2026.04 | 69.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 57.5 | 72.1 | 73.5 | 74.1 | |
| FrustrumMixBackbone=Cylinder3D2026.04 | 69.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 60 | 70 | 72.6 | 74.1 | |
| LaserMix++Backbone=Cylinder3D2026.04 | 69.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 58.5 | 71.1 | 72.8 | 74 | |
| AISceneBackbone=Cylinder3D2026.04 | 68.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 56.6 | 70.2 | 72.8 | 73.9 | |
| LaserMixBackbone=Cylinder3D2026.04 | 67.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 55.3 | 69.9 | 71.8 | 73.2 | |
| RangeNet++Modality=LiDAR-only, Test-time augmentation=false2021.06 | 65.5 | 66 | 21.3 | 77.2 | 80.9 | 30.2 | 66.8 | 69.6 | 52.1 | 54.2 | 72.3 | 94.1 | 66.6 | 63.5 | 70.1 | 83.1 | 79.8 | — | — | — | — | |
| CPSBackbone=Cylinder3D2026.04 | 65.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 52.9 | 66.3 | 70 | 72.5 | |
| CBSTBackbone=Cylinder3D2026.04 | 65.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 53 | 66.5 | 69.6 | 71.6 | |
| MTBackbone=Cylinder3D2026.04 | 64.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 51.6 | 66 | 67.1 | 71.7 | |
| Sup-onlyBackbone=Cylinder3D2026.04 | 63.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 50.9 | 65.9 | 66.6 | 71.2 | |
| SealBackbone=MinkUNet*2026.04 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 45.8 | 63 | — | — | |
| SLidRBackbone=Cylinder3D*2026.04 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 39 | 58.8 | — | — | |
| SuperFlowBackbone=MinkUNet*2026.04 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 48.1 | 64.5 | — | — |