BEV Segmentation on nuScenes v1.0 (val)
90.5Drivable AreaUniTR
Evaluation results
| Method | Links | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| UniTRModality=C+L, BEV Fusion=LSS2023.08 | 90.5 | 74.7 | — | — | — | 73.8 | 79.1 | 68 | 72.7 | 64 | — | — | — | — | |
| UniTRModality=C+L2023.08 | 90.4 | 73.2 | — | — | — | 73.1 | 78.2 | 66.6 | 67.3 | 63.8 | — | — | — | — | |
| UniTRModality=L2023.08 | 89.6 | 71.2 | — | — | — | 71.4 | 75.8 | 64.7 | 64.4 | 61.5 | — | — | — | — | |
| PETRv2Backbone=V2-99, trained_with_external_data=true2022.06 | 85.6 | — | 49 | 46.3 | — | — | — | — | — | — | — | — | — | — | |
| BEVFusionModality=C+L2023.08 | 85.5 | 62.7 | — | — | — | 60.5 | 67.6 | 52 | 57 | 53.7 | — | — | — | — | |
| PETRv2Backbone=Res-101, trained_with_external_data=false2022.06 | 83.3 | — | 44.8 | 43.4 | — | — | — | — | — | — | — | — | — | — | |
| BEVFusionModality=C2023.08 | 81.7 | 56.6 | — | — | — | 54.8 | 58.4 | 47.4 | 50.7 | 46.4 | — | — | — | — | |
| BEVFormerBackbone=Res-101, trained_with_external_data=false2022.06 | 80.1 | — | 25.7 | 44.8 | — | — | — | — | — | — | — | — | — | — | |
| M2BEVModality=C2023.08 | 77.2 | — | — | — | — | — | — | — | 40.5 | — | — | — | — | — | |
| MVPModality=C+L2023.08 | 76.1 | 49 | — | — | — | 48.7 | 57 | 36.9 | 33 | 42.2 | — | — | — | — | |
| ST-P32022.07 | 75.97 | 42.69 | 40.2 | 40.1 | 14.48 | — | — | — | — | — | — | — | — | — | |
| M²BEVBackbone=X-101, trained_with_external_data=false2022.06 | 75.9 | — | 38 | — | — | — | — | — | — | — | — | — | — | — | |
| PointPaintingModality=C+L2023.08 | 75.9 | 49.1 | — | — | — | 48.5 | 57.1 | 36.9 | 34.5 | 41.9 | — | — | — | — | |
| CenterPointModality=L2023.08 | 75.6 | 48.6 | — | — | — | 48.4 | 57.5 | 36.5 | 31.7 | 41.9 | — | — | — | — | |
| LSSModality=C2023.08 | 75.4 | 44.4 | — | — | — | 38.8 | 46.3 | 30.3 | 39.1 | 36.5 | — | — | — | — | |
| IVMP2022.07 | 74.7 | 36.76 | 20.94 | 34.03 | 17.38 | — | — | — | — | — | — | — | — | — | |
| CVTModality=C2023.08 | 74.3 | 40.2 | — | — | — | 36.8 | 39.9 | 25.8 | 35 | 29.4 | — | — | — | — | |
| OFTModality=C2023.08 | 74 | 42.1 | — | — | — | 35.3 | 45.9 | 27.5 | 35.9 | 33.9 | — | — | — | — | |
| Lift-SplatBackbone=Res-101, trained_with_external_data=false2022.06 | 72.9 | — | 20 | 32.1 | — | — | — | — | — | — | — | — | — | — | |
| Lift-Splat2022.07 | 72.23 | 34.61 | 19.98 | 31.22 | 15.02 | — | — | — | — | — | — | — | — | — | |
| PointPillarsModality=L2023.08 | 72 | 43.8 | — | — | — | 43.1 | 53.1 | 29.7 | 27.7 | 37.5 | — | — | — | — | |
| FIERY2022.07 | 71.97 | 40.18 | 33.58 | 38 | 17.15 | — | — | — | — | — | — | — | — | — | |
| VPN2022.07 | 65.97 | 30.36 | 17.05 | 28.17 | 10.26 | — | — | — | — | — | — | — | — | — | |
| PON2022.07 | 63.05 | 30.52 | 17.19 | 27.91 | 13.93 | — | — | — | — | — | — | — | — | — | |
| VED2022.07 | 60.82 | 28.19 | 16.74 | 23.28 | 11.93 | — | — | — | — | — | — | — | — | — | |
| FIERYBackbone=Res-101, trained_with_external_data=false2022.06 | — | — | — | 38.2 | — | — | — | — | — | — | — | — | — | — | |
| PON2024.04 | — | 19.1 | — | — | — | — | — | — | — | — | — | — | 43.8 | 100 | |
| TaDe2024.04 | — | 29.2 | — | — | — | — | — | — | — | — | — | — | 51.4 | 80 | |
| TIM2024.04 | — | — | — | — | — | — | — | — | — | — | — | — | 18.1 | 160 |