3D Semantic Segmentation on nuScenes (test)
84.6mIoUTASeg
Evaluation results
| Method | Links | ||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| TASegModality=LiDAR-Camera2026.05 | 84.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| U2MKDModality=LiDAR-Camera2026.05 | 84.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SphereFormerModality=L, Backbone=Transformer2023.10 | 81.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SphereFormerModality=LiDAR, Test-time augmentation=true, Fine-tuning with class re-sampling=true2021.06 | 81.9 | — | 83.3 | 39.2 | 92.5 | 77.5 | 84.2 | 84.4 | 79.1 | 88.4 | 78.3 | 97.9 | 69 | 81.5 | 77.2 | 93.4 | 90.2 | 94.7 | |
| SphereFormerBackbone=Transformer2023.10 | 81.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SphereFormerModality=LiDAR-only2026.05 | 81.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MlpfsegInput View=one view2025.10 | 81.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LiDARFormerModality=LiDAR-only2026.05 | 81.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LidarMultiNetModality=LiDAR-only2026.05 | 81.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| UniD-ShiftModality=LiDAR-Camera2026.05 | 81.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MSeg3DModality=LC2023.03 | 81.14 | 91.35 | 83.11 | 42.46 | 92.01 | 67.1 | 78.58 | 85.66 | 80.47 | 87.53 | 77.32 | 97.74 | 69.82 | 81.22 | 77.83 | 92.35 | 90.07 | — | |
| SPVCNN++Modality=L2023.03 | 81.12 | 90.97 | 86.35 | 43.13 | 92.18 | 75.9 | 75.72 | 83.44 | 77.31 | 86.82 | 77.36 | 97.69 | 71.22 | 81.08 | 77.19 | 91.67 | 88.98 | — | |
| SpUNet+UniPADModality=L, Backbone=SpConv2023.10 | 81.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PonderV2Backbone=Sparse CNN2023.10 | 81.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Mseg3D2025.10 | 81.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MSeg3DModality=LiDAR-Camera2026.05 | 81.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 2DPASSModality=LiDAR+Camera, Test-time augmentation=true, Fine-tuning with class re-sampling=true2021.06 | 80.8 | — | 81.7 | 55.3 | 91.8 | 73.3 | 86.5 | 78.5 | 72.5 | 84.7 | 75.5 | 97.6 | 69.1 | 79.9 | 75.5 | 90.2 | 88 | 92 | |
| CMDFusionModality=LiDAR-only2026.05 | 80.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 2DPASS2025.10 | 80.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PASeg2025.10 | 80.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Baseline2025.10 | 80.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RangeFormerModality=L, Backbone=Transformer2023.10 | 80.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RangeFormerModality=LiDAR, Test-time augmentation=true2021.06 | 80.1 | — | 85.6 | 47.4 | 90.9 | 70.7 | 84.7 | 77.1 | 74.1 | 83.2 | 72.6 | 97.5 | 70.7 | 79.2 | 75.4 | 91.3 | 88.9 | 91.2 | |
| 2D3DNetModality=LiDAR+Camera, Fine-tuning with class re-sampling=true2021.06 | 80 | — | 83 | 59.4 | 85.1 | 63.7 | 84.4 | 82 | 76 | 84.8 | 71.9 | 96.9 | 67.4 | 79.8 | 76 | 92.1 | 89.2 | 88 | |
| 2D3DNetModality=LiDAR-Camera2026.05 | 80 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 2D3DNetModality=LC2023.03 | 79.96 | 90.08 | 83.01 | 59.35 | 85.09 | 63.7 | 84.39 | 81.95 | 75.96 | 84.79 | 71.93 | 96.88 | 67.35 | 79.81 | 75.96 | 92.05 | 89.18 | — | |
| EPMFModality=LiDAR+Camera2021.06 | 79.2 | — | 76.9 | 39.8 | 87.8 | 72 | 86.4 | 79.6 | 76.6 | 84.1 | 74.9 | 97.7 | 66.4 | 79.5 | 76.4 | 91.1 | 87.9 | 90.3 | |
| AF2S3NetModality=L2023.03 | 78.34 | 88.51 | 78.87 | 52.21 | 84.17 | 77.42 | 74.3 | 77.32 | 71.95 | 83.88 | 73.78 | 97.13 | 66.47 | 77.51 | 74.01 | 87.69 | 86.8 | — | |
| AF2S3NetModality=LiDAR, Leaderboard reported results=true2021.06 | 78.3 | — | 78.9 | 52.2 | 84.2 | 77.4 | 74.3 | 77.3 | 72 | 83.9 | 73.8 | 97.1 | 66.5 | 77.5 | 74 | 87.7 | 86.8 | 89.9 | |
| RangeFormerModality=LiDAR2021.06 | 78.3 | — | 83.9 | 46.1 | 89.2 | 70.3 | 83.3 | 75.4 | 72.5 | 81.4 | 71.1 | 95.6 | 68.5 | 77.3 | 73.4 | 89.3 | 86.9 | 89.4 | |
| SphereFormerModality=LiDAR2021.06 | 78.1 | — | 81.5 | 39.7 | 87.5 | 66.4 | 75.7 | 77.2 | 70.6 | 85.6 | 73.6 | 97.6 | 64.8 | 79.8 | 75 | 92.2 | 89 | 93.4 | |
| Cylinder3D++Modality=L2023.03 | 77.86 | 89.93 | 82.76 | 33.89 | 89.41 | 69.63 | 79.42 | 77.26 | 73.4 | 84.55 | 69.41 | 97.66 | 70.24 | 80.29 | 75.51 | 90.42 | 87.55 | — | |
| CPFusion*Modality=LCR2023.03 | 77.72 | 89.19 | 83.67 | 37.03 | 86.24 | 70.08 | 77.47 | 78.07 | 74.53 | 82.78 | 67.94 | 96.64 | 68.24 | 79.53 | 74.91 | 90.47 | 86.95 | — | |
| SPVNASModality=L, Backbone=SpConv2023.10 | 77.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPVNASModality=LiDAR, Leaderboard reported results=true2021.06 | 77.4 | — | 80 | 30 | 90.8 | 64.7 | 79 | 75.6 | 70.9 | 81 | 74.6 | 97.4 | 69.2 | 80 | 76.1 | 89.3 | 87.1 | 91.9 | |
| SPVNASBackbone=Sparse CNN2023.10 | 77.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPVNASModality=L2023.03 | 77.35 | 89.68 | 80 | 29.98 | 90.81 | 64.68 | 78.99 | 75.62 | 70.94 | 81.01 | 74.64 | 97.44 | 69.23 | 79.95 | 76.1 | 89.28 | 87.06 | — | |
| SPVCNN2025.10 | 77.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AMVNetModality=L2023.03 | 77.27 | 90.08 | 80.64 | 31.96 | 88.93 | 67.07 | 84.33 | 76.11 | 73.48 | 84.87 | 67.3 | 97.37 | 67.37 | 79.41 | 75.45 | 91.45 | 88.69 | — | |
| Cylinder3DModality=L, Backbone=SpConv2023.10 | 77.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Cylinder3DModality=LiDAR, Leaderboard reported results=true2021.06 | 77.2 | — | 82.8 | 29.8 | 89.4 | 63 | 79.3 | 77.2 | 73.4 | 84.6 | 69.1 | 97.7 | 70.2 | 80.3 | 75.5 | 90.4 | 87.6 | 84.3 | |
| Cylinder3DBackbone=Sparse CNN2023.10 | 77.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Cylinder3DModality=LiDAR-only2026.05 | 77.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PolarNetModality=L2023.03 | 77.16 | 89.92 | 82.76 | 29.75 | 89.41 | 63.03 | 79.29 | 77.21 | 73.4 | 84.55 | 69.17 | 97.66 | 70.24 | 80.29 | 75.51 | 90.41 | 87.55 | — | |
| PMFModality=LC2023.03 | 77.03 | 89.34 | 82.11 | 40.33 | 86.42 | 63.72 | 79.22 | 79.75 | 75.86 | 81.17 | 67.05 | 97.28 | 67.69 | 78.05 | 74.48 | 89.94 | 88.46 | — | |
| PMF-R50Modality=LiDAR+Camera, Backbone=ResNet-502021.06 | 77 | — | 82.1 | 40.3 | 86.4 | 63.7 | 79.2 | 79.8 | 75.9 | 81.2 | 67.1 | 97.3 | 67.7 | 78.1 | 74.5 | 89.9 | 88.5 | 80.9 | |
| PMFModality=LiDAR-Camera2026.05 | 77 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AMVNetModality=LiDAR2021.06 | 76.1 | — | 79.8 | 32.4 | 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 | 82.2 | |
| Cylinder3D2025.10 | 76.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PMF2025.10 | 76 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LIFusion*Modality=LC2023.03 | 75.74 | 89.32 | 58.13 | 36.3 | 84.28 | 59.96 | 79.69 | 80.3 | 77.77 | 83.23 | 68.74 | 97.18 | 68.19 | 77.04 | 74.45 | 91.03 | 88.95 | — | |
| PMFModality=LiDAR+Camera2021.06 | 75.5 | — | 80.1 | 35.7 | 86 | 62.4 | 76.3 | 76.9 | 73.6 | 78.5 | 66.9 | 97.1 | 65.3 | 77.6 | 74.4 | 89.5 | 87.7 | 79.7 | |
| Cylinder3DModality=L2023.03 | 73.6 | 88.06 | 80.14 | 26.15 | 84.54 | 55.17 | 72.56 | 71.28 | 66.26 | 76.79 | 71.11 | 96.8 | 64.47 | 76.86 | 74.09 | 87.48 | 86.1 | — | |
| JS3C-NetModality=L2023.03 | 69.42 | 87.38 | 72.16 | 16.81 | 86.53 | 51.14 | 69.65 | 64.8 | 54.11 | 69.7 | 63.53 | 96.64 | 67.14 | 77.7 | 72.13 | 87.13 | 84.47 | — | |
| PolarNetModality=LiDAR2021.06 | 69.4 | — | 72.2 | 16.8 | 86.5 | 51.1 | 69.7 | 64.8 | 54.1 | 69.7 | 63.4 | 96.6 | 67.1 | 77.7 | 72.1 | 87.1 | 84.4 | 77 | |
| PolarNetModality=LiDAR-only2026.05 | 69.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — |