# Anomaly Segmentation on nuScenes OoD Multi (val)

Source: [Anomaly Segmentation on nuScenes OoD Multi (val)](<https://www.sota2.com/research/sota/anomaly-segmentation-on-nuscenes-ood-multi-val>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-04-28T08:50:50.720Z

Evaluation of Anomaly Segmentation performance on the nuScenes OoD Multi validation split, reporting metrics such as AUROC, FPR@95, and AP.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Anomaly Segmentation |
| Dataset (including any stated split) | nuScenes OoD Multi (val) |
| Metric | AUROC |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 9 of 9 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [AUROC](<https://www.sota2.com/research/sota/anomaly-segmentation-on-nuscenes-ood-multi-val.md?metric=AUROC>): Higher is better; unit: PERCENT.

- [FPR@95 (%)](<https://www.sota2.com/research/sota/anomaly-segmentation-on-nuscenes-ood-multi-val.md?metric=FPR%4095%20(%25)>): Lower is better; unit: PERCENT.

- [AP (%)](<https://www.sota2.com/research/sota/anomaly-segmentation-on-nuscenes-ood-multi-val.md?metric=AP%20(%25)>): Higher is better; unit: PERCENT.

## Recorded results

| Method | AUROC | Result date | Report paper |
| --- | --- | --- | --- |
| MinkowskiNet + Max Logit | 90.1 | Not recorded | 69f03f4b55a3c32af89fa2cd |
| Mask4Former3D + Deep Ensemble | 88.62 | Not recorded | 69f03f4b55a3c32af89fa2cd |
| MinkowskiNet + Deep Ensemble | 87.29 | Not recorded | 69f03f4b55a3c32af89fa2cd |
| LIDO | 87.25 | Not recorded | 69f03f4b55a3c32af89fa2cd |
| MinkowskiNet + Void Classifier | 86.64 | Not recorded | 69f03f4b55a3c32af89fa2cd |
| MinkowskiNet + MC Dropout | 81.94 | Not recorded | 69f03f4b55a3c32af89fa2cd |
| Mask4Former3D + RbA | 71.6 | Not recorded | 69f03f4b55a3c32af89fa2cd |
| Mask4Former3D + Max Logit | 43.54 | Not recorded | 69f03f4b55a3c32af89fa2cd |
| MinkowskiNet + RbA | 12.61 | Not recorded | 69f03f4b55a3c32af89fa2cd |

### MinkowskiNet + Max Logit

AUROC: 90.1. Result ID: 69f073ca47f34ce924d67371.

[Reporting paper](<https://www.sota2.com/research/paper/69f03f4b55a3c32af89fa2cd.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa64e41e209131cea0731a.md>)

[Implementation](<https://www.sota2.com/github.com/hendrycks/error-detection>)

Recorded evaluation configuration: {"Scan mode":"Multi"}. This record does not assert independent reproduction.

### Mask4Former3D + Deep Ensemble

AUROC: 88.62. Result ID: 69f073ca47f34ce924d6736e.

[Reporting paper](<https://www.sota2.com/research/paper/69f03f4b55a3c32af89fa2cd.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa63bc1e209131cea0084f.md>)

Recorded evaluation configuration: {"Scan mode":"Multi"}. This record does not assert independent reproduction.

### MinkowskiNet + Deep Ensemble

AUROC: 87.29. Result ID: 69f073ca47f34ce924d67372.

[Reporting paper](<https://www.sota2.com/research/paper/69f03f4b55a3c32af89fa2cd.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa63bc1e209131cea0084f.md>)

Recorded evaluation configuration: {"Scan mode":"Multi"}. This record does not assert independent reproduction.

### LIDO

AUROC: 87.25. Result ID: 69f073ca47f34ce924d67374.

[Reporting paper](<https://www.sota2.com/research/paper/69f03f4b55a3c32af89fa2cd.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69f03f4b55a3c32af89fa2cd.md>)

[Implementation](<https://github.com/SiMoM0/LIDO>)

Recorded evaluation configuration: {"Scan mode":"Multi"}. This record does not assert independent reproduction.

### MinkowskiNet + Void Classifier

AUROC: 86.64. Result ID: 69f073ca47f34ce924d67373.

[Reporting paper](<https://www.sota2.com/research/paper/69f03f4b55a3c32af89fa2cd.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ad21e209131cea2a90a.md>)

[Implementation](<https://www.sota2.com/fishyscapes.com>)

Recorded evaluation configuration: {"Scan mode":"Multi"}. This record does not assert independent reproduction.

### MinkowskiNet + MC Dropout

AUROC: 81.94. Result ID: 69f073ca47f34ce924d67370.

[Reporting paper](<https://www.sota2.com/research/paper/69f03f4b55a3c32af89fa2cd.md>)

Recorded evaluation configuration: {"Scan mode":"Multi"}. This record does not assert independent reproduction.

### Mask4Former3D + RbA

AUROC: 71.6. Result ID: 69f073ca47f34ce924d6736c.

[Reporting paper](<https://www.sota2.com/research/paper/69f03f4b55a3c32af89fa2cd.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ee11e209131cea429d5.md>)

Recorded evaluation configuration: {"Scan mode":"Multi"}. This record does not assert independent reproduction.

### Mask4Former3D + Max Logit

AUROC: 43.54. Result ID: 69f073ca47f34ce924d6736d.

[Reporting paper](<https://www.sota2.com/research/paper/69f03f4b55a3c32af89fa2cd.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa64e41e209131cea0731a.md>)

[Implementation](<https://www.sota2.com/github.com/hendrycks/error-detection>)

Recorded evaluation configuration: {"Scan mode":"Multi"}. This record does not assert independent reproduction.

### MinkowskiNet + RbA

AUROC: 12.61. Result ID: 69f073ca47f34ce924d6736f.

[Reporting paper](<https://www.sota2.com/research/paper/69f03f4b55a3c32af89fa2cd.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ee11e209131cea429d5.md>)

Recorded evaluation configuration: {"Scan mode":"Multi"}. This record does not assert independent reproduction.

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