# BEV semantic segmentation on nuScenes 1 (val)

Source: [BEV semantic segmentation on nuScenes 1 (val)](<https://www.sota2.com/research/sota/bev-semantic-segmentation-on-nuscenes-1-val>)

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

Data updated: 2026-02-26T06:08:12.233Z

Evaluation of Bird's Eye View (BEV) semantic segmentation performance on the nuScenes 1 validation set, reporting key metrics such as mIoU, Vehicle IoU, and Drivable Area 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 semantic segmentation |
| Dataset (including any stated split) | nuScenes 1 (val) |
| Metric | Vehicle IoU |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 6 of 6 |
| 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](<https://www.sota2.com/research/sota/bev-semantic-segmentation-on-nuscenes-1-val.md?metric=Vehicle%20IoU>): Higher is better; unit: PERCENT.

- [mIoU](<https://www.sota2.com/research/sota/bev-semantic-segmentation-on-nuscenes-1-val.md?metric=mIoU>): Higher is better; unit: PERCENT.

- [Drivable Area IoU](<https://www.sota2.com/research/sota/bev-semantic-segmentation-on-nuscenes-1-val.md?metric=Drivable%20Area%20IoU>): Higher is better; unit: PERCENT.

## Recorded results

| Method | Vehicle IoU | Result date | Report paper |
| --- | --- | --- | --- |
| IMKD | 60.5 | Not recorded | 69438aa1423ea4226572958c |
| BEVGuide | 59.2 | Not recorded | 69438aa1423ea4226572958c |
| CRN | 58.8 | Not recorded | 69438aa1423ea4226572958c |
| BEVCar | 57.3 | Not recorded | 69438aa1423ea4226572958c |
| Simple-BEV++ | 52.7 | Not recorded | 69438aa1423ea4226572958c |
| BEVFormer-S | 43.2 | Not recorded | 69438aa1423ea4226572958c |

### IMKD

Vehicle IoU: 60.5. Result ID: 699836295698665ec491d15a.

[Reporting paper](<https://www.sota2.com/research/paper/69438aa1423ea4226572958c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69438aa1423ea4226572958c.md>)

Recorded evaluation configuration: {"Input":"C+R","Backbone":"R101"}. This record does not assert independent reproduction.

### BEVGuide

Vehicle IoU: 59.2. Result ID: 699836295698665ec491d158.

[Reporting paper](<https://www.sota2.com/research/paper/69438aa1423ea4226572958c.md>)

Recorded evaluation configuration: {"Input":"C+R","Backbone":"EffNet"}. This record does not assert independent reproduction.

### CRN

Vehicle IoU: 58.8. Result ID: 699836295698665ec491d156.

[Reporting paper](<https://www.sota2.com/research/paper/69438aa1423ea4226572958c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa71aa1e209131cea526ae.md>)

Recorded evaluation configuration: {"Input":"C+R","Backbone":"R50"}. This record does not assert independent reproduction.

### BEVCar

Vehicle IoU: 57.3. Result ID: 699836295698665ec491d159.

[Reporting paper](<https://www.sota2.com/research/paper/69438aa1423ea4226572958c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa76891e209131cea6d803.md>)

Recorded evaluation configuration: {"Input":"C+R","Backbone":"R101"}. This record does not assert independent reproduction.

### Simple-BEV++

Vehicle IoU: 52.7. Result ID: 699836295698665ec491d157.

[Reporting paper](<https://www.sota2.com/research/paper/69438aa1423ea4226572958c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa76891e209131cea6d803.md>)

Recorded evaluation configuration: {"Input":"C+R","Backbone":"R101","Customization":"Modified by BEVCar"}. This record does not assert independent reproduction.

### BEVFormer-S

Vehicle IoU: 43.2. Result ID: 699836295698665ec491d155.

[Reporting paper](<https://www.sota2.com/research/paper/69438aa1423ea4226572958c.md>)

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

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

Recorded evaluation configuration: {"Input":"C","Backbone":"R101"}. This record does not assert independent reproduction.

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