# BEV Segmentation on V2X-Sim 1.0 (test) Source: [BEV Segmentation on V2X-Sim 1.0 (test)]() Collection index: [llms.txt]() Data updated: 2026-02-26T06:08:12.269Z Evaluation of Bird's Eye View (BEV) semantic segmentation performance on the test split of the V2X-Sim 1.0 dataset, reporting class-specific IoU scores for categories like Vehicle, Road, and Sidewalk. 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 segmentation | | Dataset (including any stated split) | V2X-Sim 1.0 (test) | | Metric | Vehicle IoU | | Unit | PERCENT | | Direction | Higher is better | | Results loaded | 8 of 8 | | 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 - [Vehicle IoU](): Higher is better; unit: PERCENT. - [Sidewalk IoU](): Higher is better; unit: PERCENT. - [Terrain IoU](): Higher is better; unit: PERCENT. - [Road IoU](): Higher is better; unit: PERCENT. - [Buildings IoU](): Higher is better; unit: PERCENT. - [Pedestrian IoU](): Higher is better; unit: PERCENT. - [Vegetation IoU](): Higher is better; unit: PERCENT. - [mIoU](): Higher is better; unit: PERCENT. ## Recorded results | Method | Vehicle IoU | Result date | Report paper | | --- | --- | --- | --- | | Upper-bound | 55.58 | Not recorded | 68fa7a2d1e209131cea81912 | | CP-uniGuard | 52.84 | Not recorded | 68fa7a2d1e209131cea81912 | | CP-uniGuard | 52.76 | Not recorded | 68fa7a2d1e209131cea81912 | | CP-uniGuard | 49.22 | Not recorded | 68fa7a2d1e209131cea81912 | | Lower-bound | 47.06 | Not recorded | 68fa7a2d1e209131cea81912 | | No Defense | 34.53 | Not recorded | 68fa7a2d1e209131cea81912 | | No Defense | 26.8 | Not recorded | 68fa7a2d1e209131cea81912 | | No Defense | 22.5 | Not recorded | 68fa7a2d1e209131cea81912 | ### Upper-bound Vehicle IoU: 55.58. Result ID: 699a485d5698665ec4cfb8fc. [Reporting paper]() Recorded evaluation configuration: {"Perception Protocol":"Collaborative","Attack Scenario":"None (All benign agents)"}. This record does not assert independent reproduction. ### CP-uniGuard Vehicle IoU: 52.84. Result ID: 699a485d5698665ec4cfb8ff. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Attack Scenario":"PGD attack","Perception Protocol":"Collaborative"}. This record does not assert independent reproduction. ### CP-uniGuard Vehicle IoU: 52.76. Result ID: 699a485d5698665ec4cfb8fd. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Attack Scenario":"FGSM attack","Perception Protocol":"Collaborative"}. This record does not assert independent reproduction. ### CP-uniGuard Vehicle IoU: 49.22. Result ID: 699a485d5698665ec4cfb8fe. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Attack Scenario":"C&W attack","Perception Protocol":"Collaborative"}. This record does not assert independent reproduction. ### Lower-bound Vehicle IoU: 47.06. Result ID: 699a485d5698665ec4cfb900. [Reporting paper]() Recorded evaluation configuration: {"Perception Protocol":"Individual perception","Attack Scenario":"None"}. This record does not assert independent reproduction. ### No Defense Vehicle IoU: 34.53. Result ID: 699a485d5698665ec4cfb902. [Reporting paper]() Recorded evaluation configuration: {"Attack Scenario":"C&W attack","Fusion Method":"V2VNet"}. This record does not assert independent reproduction. ### No Defense Vehicle IoU: 26.8. Result ID: 699a485d5698665ec4cfb901. [Reporting paper]() Recorded evaluation configuration: {"Attack Scenario":"FGSM attack","Fusion Method":"V2VNet"}. This record does not assert independent reproduction. ### No Defense Vehicle IoU: 22.5. Result ID: 699a485d5698665ec4cfb903. [Reporting paper]() Recorded evaluation configuration: {"Attack Scenario":"PGD attack","Fusion Method":"V2VNet"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.