# Anomaly Segmentation on SemanticKITTI-OoD Multi (val) Source: [Anomaly Segmentation on SemanticKITTI-OoD Multi (val)]() Collection index: [llms.txt]() Data updated: 2026-06-02T11:57:51.838Z Evaluation of Anomaly Segmentation performance on the validation split of the SemanticKITTI Out-of-Distribution Multi dataset, reporting metrics like 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) | SemanticKITTI-OoD Multi (val) | | Metric | AUROC | | Unit | PERCENT | | Direction | Higher is better | | Results loaded | 16 of 16 | | 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](): Higher is better; unit: PERCENT. - [FPR@95](): Lower is better; unit: PERCENT. - [AP](): Higher is better; unit: PERCENT. ## Recorded results | Method | AUROC | Result date | Report paper | | --- | --- | --- | --- | | Ours | 96.76 | Not recorded | 6912c3442828b7cc6937e005 | | UEM | 93.15 | Not recorded | 6912c3442828b7cc6937e005 | | LiON\* | 92.69 | Not recorded | 6912c3442828b7cc6937e005 | | Mask4Former3D + Deep Ensemble | 92.19 | Not recorded | 69f03f4b55a3c32af89fa2cd | | Max Logit | 90.73 | Not recorded | 6912c3442828b7cc6937e005 | | LIDO | 89.89 | Not recorded | 69f03f4b55a3c32af89fa2cd | | MinkowskiNet + Deep Ensemble | 89.03 | Not recorded | 69f03f4b55a3c32af89fa2cd | | MinkowskiNet + Max Logit | 86.93 | Not recorded | 69f03f4b55a3c32af89fa2cd | | APF\* | 85.6 | Not recorded | 6912c3442828b7cc6937e005 | | MinkowskiNet + MC Dropout | 84.93 | Not recorded | 69f03f4b55a3c32af89fa2cd | | REAL\* | 84.9 | Not recorded | 6912c3442828b7cc6937e005 | | Mask4Former3D + Max Logit | 84.05 | Not recorded | 69f03f4b55a3c32af89fa2cd | | RbA | 78.86 | Not recorded | 6912c3442828b7cc6937e005 | | Mask4Former3D + RbA | 71.39 | Not recorded | 69f03f4b55a3c32af89fa2cd | | MinkowskiNet + Void Classifier | 50.89 | Not recorded | 69f03f4b55a3c32af89fa2cd | | MinkowskiNet + RbA | 36.9 | Not recorded | 69f03f4b55a3c32af89fa2cd | ### Ours AUROC: 96.76. Result ID: 6a1ec531fbc373592c1a3bae. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Auxiliary OOD Data":"true","Architecture":"Mask4Former \[48\]"}. This record does not assert independent reproduction. ### UEM AUROC: 93.15. Result ID: 6a1ec531fbc373592c1a3baa. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Auxiliary OOD Data":"true","Architecture":"Mask4Former \[48\]"}. This record does not assert independent reproduction. ### LiON\* AUROC: 92.69. Result ID: 6a1ec531fbc373592c1a3bad. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Auxiliary OOD Data":"true","Architecture":"Cylinder3D \[49\]"}. This record does not assert independent reproduction. ### Mask4Former3D + Deep Ensemble AUROC: 92.19. Result ID: 69f073ca47f34ce924d6738b. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"Mask4Former3D","Anomaly Detection Method":"Deep Ensemble"}. This record does not assert independent reproduction. ### Max Logit AUROC: 90.73. Result ID: 6a1ec531fbc373592c1a3ba8. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Auxiliary OOD Data":"false","Architecture":"Mask4Former \[48\]"}. This record does not assert independent reproduction. ### LIDO AUROC: 89.89. Result ID: 69f073ca47f34ce924d67391. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Anomaly Detection Method":"LIDO"}. This record does not assert independent reproduction. ### MinkowskiNet + Deep Ensemble AUROC: 89.03. Result ID: 69f073ca47f34ce924d67390. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"MinkowskiNet","Anomaly Detection Method":"Deep Ensemble"}. This record does not assert independent reproduction. ### MinkowskiNet + Max Logit AUROC: 86.93. Result ID: 69f073ca47f34ce924d6738e. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"MinkowskiNet","Anomaly Detection Method":"Max Logit"}. This record does not assert independent reproduction. ### APF\* AUROC: 85.6. Result ID: 6a1ec531fbc373592c1a3bac. [Reporting paper]() Recorded evaluation configuration: {"Auxiliary OOD Data":"false","Architecture":"Cylinder3D \[49\]"}. This record does not assert independent reproduction. ### MinkowskiNet + MC Dropout AUROC: 84.93. Result ID: 69f073ca47f34ce924d6738f. [Reporting paper]() Recorded evaluation configuration: {"Backbone":"MinkowskiNet","Anomaly Detection Method":"MC Dropout"}. This record does not assert independent reproduction. ### REAL\* AUROC: 84.9. Result ID: 6a1ec531fbc373592c1a3bab. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Auxiliary OOD Data":"true","Architecture":"Cylinder3D \[49\]"}. This record does not assert independent reproduction. ### Mask4Former3D + Max Logit AUROC: 84.05. Result ID: 69f073ca47f34ce924d6738a. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"Mask4Former3D","Anomaly Detection Method":"Max Logit"}. This record does not assert independent reproduction. ### RbA AUROC: 78.86. Result ID: 6a1ec531fbc373592c1a3ba9. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Auxiliary OOD Data":"false","Architecture":"Mask4Former \[48\]"}. This record does not assert independent reproduction. ### Mask4Former3D + RbA AUROC: 71.39. Result ID: 69f073ca47f34ce924d67389. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"Mask4Former3D","Anomaly Detection Method":"RbA"}. This record does not assert independent reproduction. ### MinkowskiNet + Void Classifier AUROC: 50.89. Result ID: 69f073ca47f34ce924d6738d. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"MinkowskiNet","Anomaly Detection Method":"Void Classifier"}. This record does not assert independent reproduction. ### MinkowskiNet + RbA AUROC: 36.9. Result ID: 69f073ca47f34ce924d6738c. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"MinkowskiNet","Anomaly Detection Method":"RbA"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.