# Anomaly Segmentation on nuScenes OoD Single (val)

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

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

Data updated: 2026-04-28T08:50:50.678Z

Evaluation of Anomaly Segmentation performance on the 'OoD Single' subset of the nuScenes validation set, focusing on outlier detection metrics like AUROC and FPR@95.

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 Single (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-single-val.md?metric=AUROC>): Higher is better; unit: PERCENT.

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

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

## Recorded results

| Method | AUROC | Result date | Report paper |
| --- | --- | --- | --- |
| Mask4Former3D + Deep Ensemble | 91.79 | Not recorded | 69f03f4b55a3c32af89fa2cd |
| MinkowskiNet + Max Logit | 90.82 | Not recorded | 69f03f4b55a3c32af89fa2cd |
| MinkowskiNet + Deep Ensemble | 89.79 | Not recorded | 69f03f4b55a3c32af89fa2cd |
| LIDO | 89.33 | Not recorded | 69f03f4b55a3c32af89fa2cd |
| MinkowskiNet + Void Classifier | 86.09 | Not recorded | 69f03f4b55a3c32af89fa2cd |
| MinkowskiNet + MC Dropout | 84.14 | Not recorded | 69f03f4b55a3c32af89fa2cd |
| Mask4Former3D + Max Logit | 66.17 | Not recorded | 69f03f4b55a3c32af89fa2cd |
| Mask4Former3D + RbA | 32.65 | Not recorded | 69f03f4b55a3c32af89fa2cd |
| MinkowskiNet + RbA | 11.02 | Not recorded | 69f03f4b55a3c32af89fa2cd |

### Mask4Former3D + Deep Ensemble

AUROC: 91.79. Result ID: 69f073ca47f34ce924d67365.

[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":"Single"}. This record does not assert independent reproduction.

### MinkowskiNet + Max Logit

AUROC: 90.82. Result ID: 69f073ca47f34ce924d67368.

[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":"Single"}. This record does not assert independent reproduction.

### MinkowskiNet + Deep Ensemble

AUROC: 89.79. Result ID: 69f073ca47f34ce924d67369.

[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":"Single"}. This record does not assert independent reproduction.

### LIDO

AUROC: 89.33. Result ID: 69f073ca47f34ce924d6736b.

[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":"Single"}. This record does not assert independent reproduction.

### MinkowskiNet + Void Classifier

AUROC: 86.09. Result ID: 69f073ca47f34ce924d6736a.

[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":"Single"}. This record does not assert independent reproduction.

### MinkowskiNet + MC Dropout

AUROC: 84.14. Result ID: 69f073ca47f34ce924d67367.

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

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

### Mask4Former3D + Max Logit

AUROC: 66.17. Result ID: 69f073ca47f34ce924d67364.

[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":"Single"}. This record does not assert independent reproduction.

### Mask4Former3D + RbA

AUROC: 32.65. Result ID: 69f073ca47f34ce924d67363.

[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":"Single"}. This record does not assert independent reproduction.

### MinkowskiNet + RbA

AUROC: 11.02. Result ID: 69f073ca47f34ce924d67366.

[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":"Single"}. This record does not assert independent reproduction.

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