# BEV Pedestrian Segmentation on nuScenes

Source: [BEV Pedestrian Segmentation on nuScenes](<https://www.sota2.com/research/sota/bev-pedestrian-segmentation-on-nuscenes>)

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

Data updated: 2026-03-20T10:38:50.088Z

Evaluation of Bird's Eye View (BEV) segmentation performance specifically targeting pedestrians on the nuScenes dataset, measured using Intersection over Union (IoU).

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 | BEV Pedestrian Segmentation |
| Dataset (including any stated split) | nuScenes |
| Metric | BEV Pedestrian IoU |
| Unit | SCALAR |
| Direction | Higher is better |
| Results loaded | 15 of 15 |
| 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

- [BEV Pedestrian IoU](<https://www.sota2.com/research/sota/bev-pedestrian-segmentation-on-nuscenes.md?metric=BEV%20Pedestrian%20IoU>): Higher is better; unit: SCALAR.

## Recorded results

| Method | BEV Pedestrian IoU | Result date | Report paper |
| --- | --- | --- | --- |
| Splat2BEV | 0.201 | Not recorded | 69bcd4920636e5bf4afc2a27 |
| PointBEV | 0.185 | Not recorded | 68fa77ca1e209131cea755ad |
| PointBeV | 0.185 | Not recorded | 69bcd4920636e5bf4afc2a27 |
| GaussianLSS | 0.18 | Not recorded | 68fa77ca1e209131cea755ad |
| GaussianLSS | 0.18 | Not recorded | 69bcd4920636e5bf4afc2a27 |
| FIERY static | 0.172 | Not recorded | 68fa77ca1e209131cea755ad |
| SimpleBEV | 0.171 | Not recorded | 68fa77ca1e209131cea755ad |
| SimpleBEV | 0.171 | Not recorded | 69bcd4920636e5bf4afc2a27 |
| BEVFormer | 0.164 | Not recorded | 68fa77ca1e209131cea755ad |
| BEVFormer | 0.164 | Not recorded | 69bcd4920636e5bf4afc2a27 |
| LSS | 0.15 | Not recorded | 68fa77ca1e209131cea755ad |
| LSS | 0.15 | Not recorded | 69bcd4920636e5bf4afc2a27 |
| ST-P3 | 0.145 | Not recorded | 68fa77ca1e209131cea755ad |
| CVT | 0.142 | Not recorded | 68fa77ca1e209131cea755ad |
| CVT | 0.142 | Not recorded | 69bcd4920636e5bf4afc2a27 |

### Splat2BEV

BEV Pedestrian IoU: 0.201. Result ID: 69bd23b947f34ce924a8089e.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

Recorded evaluation configuration: {"visibility":"\> 40%"}. This record does not assert independent reproduction.

### PointBEV

BEV Pedestrian IoU: 0.185. Result ID: 69956a4f3badfaffe65e5414.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77ca1e209131cea755ad.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa73411e209131cea5b4ba.md>)

[Implementation](<https://github.com/valeoai/PointBeV>)

Recorded evaluation configuration: {"Resolution":"224 x 480","Visibility Filtering":true}. This record does not assert independent reproduction.

### PointBeV

BEV Pedestrian IoU: 0.185. Result ID: 69bd23b947f34ce924a8089a.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

Recorded evaluation configuration: {"visibility":"\> 40%"}. This record does not assert independent reproduction.

### GaussianLSS

BEV Pedestrian IoU: 0.18. Result ID: 69956a4f3badfaffe65e5419.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77ca1e209131cea755ad.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77ca1e209131cea755ad.md>)

[Implementation](<https://hcis-lab.github.io/GaussianLSS/>)

Recorded evaluation configuration: {"Resolution":"224 x 480","Visibility Filtering":true}. This record does not assert independent reproduction.

### GaussianLSS

BEV Pedestrian IoU: 0.18. Result ID: 69bd23b947f34ce924a8089d.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77ca1e209131cea755ad.md>)

[Implementation](<https://hcis-lab.github.io/GaussianLSS/>)

Recorded evaluation configuration: {"visibility":"\> 40%"}. This record does not assert independent reproduction.

### FIERY static

BEV Pedestrian IoU: 0.172. Result ID: 69956a4f3badfaffe65e5416.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77ca1e209131cea755ad.md>)

Recorded evaluation configuration: {"Resolution":"224 x 480","Visibility Filtering":true}. This record does not assert independent reproduction.

### SimpleBEV

BEV Pedestrian IoU: 0.171. Result ID: 69956a4f3badfaffe65e5413.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77ca1e209131cea755ad.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d011e209131cea373ae.md>)

[Implementation](<https://github.com/zhiqi-li/BEVFormer>)

Recorded evaluation configuration: {"Resolution":"224 x 480","Visibility Filtering":true}. This record does not assert independent reproduction.

### SimpleBEV

BEV Pedestrian IoU: 0.171. Result ID: 69bd23b947f34ce924a80899.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d831e209131cea3a41c.md>)

[Implementation](<https://simple-bev.github.io/>)

Recorded evaluation configuration: {"visibility":"\> 40%"}. This record does not assert independent reproduction.

### BEVFormer

BEV Pedestrian IoU: 0.164. Result ID: 69956a4f3badfaffe65e5412.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77ca1e209131cea755ad.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d011e209131cea373ae.md>)

[Implementation](<https://github.com/zhiqi-li/BEVFormer>)

Recorded evaluation configuration: {"Resolution":"224 x 480","Visibility Filtering":true}. This record does not assert independent reproduction.

### BEVFormer

BEV Pedestrian IoU: 0.164. Result ID: 69bd23b947f34ce924a80898.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

Recorded evaluation configuration: {"visibility":"\> 40%"}. This record does not assert independent reproduction.

### LSS

BEV Pedestrian IoU: 0.15. Result ID: 69956a4f3badfaffe65e5415.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77ca1e209131cea755ad.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa682e1e209131cea1a99e.md>)

[Implementation](<https://nv-tlabs.github.io/lift-splat-shoot>)

Recorded evaluation configuration: {"Resolution":"224 x 480","Visibility Filtering":true}. This record does not assert independent reproduction.

### LSS

BEV Pedestrian IoU: 0.15. Result ID: 69bd23b947f34ce924a8089b.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa682e1e209131cea1a99e.md>)

[Implementation](<https://nv-tlabs.github.io/lift-splat-shoot>)

Recorded evaluation configuration: {"visibility":"\> 40%"}. This record does not assert independent reproduction.

### ST-P3

BEV Pedestrian IoU: 0.145. Result ID: 69956a4f3badfaffe65e5418.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77ca1e209131cea755ad.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6cfc1e209131cea37225.md>)

[Implementation](<https://github.com/OpenPerceptionX/ST-P3>)

Recorded evaluation configuration: {"Resolution":"224 x 480","Visibility Filtering":true}. This record does not assert independent reproduction.

### CVT

BEV Pedestrian IoU: 0.142. Result ID: 69956a4f3badfaffe65e5417.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77ca1e209131cea755ad.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c751e209131cea340a7.md>)

[Implementation](<https://github.com/bradyz/cross_view_transformers>)

Recorded evaluation configuration: {"Resolution":"224 x 480","Visibility Filtering":true}. This record does not assert independent reproduction.

### CVT

BEV Pedestrian IoU: 0.142. Result ID: 69bd23b947f34ce924a8089c.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c751e209131cea340a7.md>)

[Implementation](<https://github.com/bradyz/cross_view_transformers>)

Recorded evaluation configuration: {"visibility":"\> 40%"}. This record does not assert independent reproduction.

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