# BEV Semantic Segmentation on nuScenes Dry -\> Rain 1.0 (test val)

Source: [BEV Semantic Segmentation on nuScenes Dry -\> Rain 1.0 (test val)](<https://www.sota2.com/research/sota/bev-semantic-segmentation-on-nuscenes-dry-rain-1-0-test-val>)

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

Data updated: 2026-02-26T05:39:10.406Z

Evaluation of Bird's Eye View (BEV) Semantic Segmentation performance on the nuScenes dataset under a specific weather transition scenario (Dry to Rain 1.0), tested on the combined test and validation splits.

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 Dry -\> Rain 1.0 (test val) |
| Metric | Class IoU: Driveable Area |
| 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

- [Class IoU: Driveable Area](<https://www.sota2.com/research/sota/bev-semantic-segmentation-on-nuscenes-dry-rain-1-0-test-val.md?metric=Class%20IoU%3A%20Driveable%20Area>): Higher is better; unit: PERCENT.

- [Class IoU: Pedestrian](<https://www.sota2.com/research/sota/bev-semantic-segmentation-on-nuscenes-dry-rain-1-0-test-val.md?metric=Class%20IoU%3A%20Pedestrian>): Higher is better; unit: PERCENT.

- [Class IoU: Walkable Area](<https://www.sota2.com/research/sota/bev-semantic-segmentation-on-nuscenes-dry-rain-1-0-test-val.md?metric=Class%20IoU%3A%20Walkable%20Area>): Higher is better; unit: PERCENT.

- [Class IoU: Stop Line](<https://www.sota2.com/research/sota/bev-semantic-segmentation-on-nuscenes-dry-rain-1-0-test-val.md?metric=Class%20IoU%3A%20Stop%20Line>): Higher is better; unit: PERCENT.

- [Class IoU: Car](<https://www.sota2.com/research/sota/bev-semantic-segmentation-on-nuscenes-dry-rain-1-0-test-val.md?metric=Class%20IoU%3A%20Car>): Higher is better; unit: PERCENT.

- [Class IoU: Divider](<https://www.sota2.com/research/sota/bev-semantic-segmentation-on-nuscenes-dry-rain-1-0-test-val.md?metric=Class%20IoU%3A%20Divider>): Higher is better; unit: PERCENT.

- [mIoU](<https://www.sota2.com/research/sota/bev-semantic-segmentation-on-nuscenes-dry-rain-1-0-test-val.md?metric=mIoU>): Higher is better; unit: PERCENT.

## Recorded results

| Method | Class IoU: Driveable Area | Result date | Report paper |
| --- | --- | --- | --- |
| PCT\* | 78.3 | Not recorded | 68fa79d41e209131cea7f934 |
| NRSeg | 72.8 | Not recorded | 68fa79d41e209131cea7f934 |
| DomainADV\* | 72 | Not recorded | 68fa79d41e209131cea7f934 |
| MT+PV | 70.5 | Not recorded | 68fa79d41e209131cea7f934 |
| DualCross | 67.9 | Not recorded | 68fa79d41e209131cea7f934 |
| Source Only | 67.1 | Not recorded | 68fa79d41e209131cea7f934 |

### PCT\*

Class IoU: Driveable Area: 78.3. Result ID: 699ebaa25698665ec489b7ac.

[Reporting paper](<https://www.sota2.com/research/paper/68fa79d41e209131cea7f934.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa74251e209131cea5ffaf.md>)

Recorded evaluation configuration: {"Image Size":"224 x 480"}. This record does not assert independent reproduction.

### NRSeg

Class IoU: Driveable Area: 72.8. Result ID: 699ebaa25698665ec489b7ae.

[Reporting paper](<https://www.sota2.com/research/paper/68fa79d41e209131cea7f934.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa79d41e209131cea7f934.md>)

Recorded evaluation configuration: {"Image Size":"128 x 352"}. This record does not assert independent reproduction.

### DomainADV\*

Class IoU: Driveable Area: 72. Result ID: 699ebaa25698665ec489b7ab.

[Reporting paper](<https://www.sota2.com/research/paper/68fa79d41e209131cea7f934.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa74251e209131cea5ffaf.md>)

Recorded evaluation configuration: {"Image Size":"224 x 480"}. This record does not assert independent reproduction.

### MT+PV

Class IoU: Driveable Area: 70.5. Result ID: 699ebaa25698665ec489b7ad.

[Reporting paper](<https://www.sota2.com/research/paper/68fa79d41e209131cea7f934.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa64481e209131cea03b45.md>)

[Implementation](<https://github.com/CuriousAI/mean-teacher>)

Recorded evaluation configuration: {"Image Size":"128 x 352"}. This record does not assert independent reproduction.

### DualCross

Class IoU: Driveable Area: 67.9. Result ID: 699ebaa25698665ec489b7aa.

[Reporting paper](<https://www.sota2.com/research/paper/68fa79d41e209131cea7f934.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa73991e209131cea5d800.md>)

Recorded evaluation configuration: {"Image Size":"128 x 352"}. This record does not assert independent reproduction.

### Source Only

Class IoU: Driveable Area: 67.1. Result ID: 699ebaa25698665ec489b7a9.

[Reporting paper](<https://www.sota2.com/research/paper/68fa79d41e209131cea7f934.md>)

Recorded evaluation configuration: {"Image Size":"128 x 352"}. This record does not assert independent reproduction.

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