BEV Semantic Segmentation on nuScenes (val)
85.5Drivable Area IoUBEVFusion
Evaluation results
| Method | Links | |||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| BEVFusionModality=C+L2022.05 | 85.5 | 60.5 | 67.6 | 57 | — | — | — | — | — | — | — | — | — | — | 62.7 | 52 | 53.7 | — | — | — | — | |
| DDPModality=Camera-only2025.08 | 83.6 | 58.3 | 61.6 | 51.4 | — | — | — | — | — | — | — | — | — | — | 59.4 | 52.4 | 49.2 | — | — | — | — | |
| RESAR-StandardModality=C+R, Resolution=448×672, Backbone=Res101, Parameters=31.9M, FPS=14.62025.05 | 83.53 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 44.43 | 56.87 | — | — | — | |
| BridgeTAModality=LC → C2025.08 | 83.3 | 58.6 | 62.9 | 56.6 | — | — | — | — | — | — | — | — | — | — | 60.8 | 53.6 | 50.1 | — | — | — | — | |
| MetaBEVModality=Camera-only2025.08 | 83.3 | 56.7 | 61.4 | 55.5 | — | — | — | — | — | — | — | — | — | — | 59.3 | 50.8 | 48 | — | — | — | — | |
| BridgeTAModality=Camera-only2025.08 | 83.3 | 58.6 | 62.9 | 56.6 | — | — | — | — | — | — | — | — | — | — | 60.8 | 53.6 | 50.1 | — | — | — | — | |
| RCBEVDet++Input=C+R, Backbone=ResNet-1012024.09 | 82.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | 62.8 | — | — | 55.3 | 50.5 | — | — | |
| MapDistillModality=LC → C2025.08 | 82.6 | 57.4 | 61.7 | 54.5 | — | — | — | — | — | — | — | — | — | — | 59.5 | 51.6 | 48.8 | — | — | — | — | |
| SimDistillModality=LC → C2025.08 | 82.4 | 57.3 | 61.3 | 54.4 | — | — | — | — | — | — | — | — | — | — | 59.2 | 51.1 | 48.3 | — | — | — | — | |
| X-AlignModality=Camera-only2025.08 | 82.4 | 55.6 | 59.3 | 53.8 | — | — | — | — | — | — | — | — | — | — | 58 | 49.6 | 47.4 | — | — | — | — | |
| CRNInput=C+R, Backbone=ResNet-502024.09 | 82.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 58.8 | — | — | — | |
| BEVCarInput=C+R, Backbone=ResNet-1012024.09 | 81.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | 61 | — | — | 57.3 | 43.8 | — | — | |
| BEVFusionModality=C2022.05 | 81.7 | 54.8 | 58.4 | 50.7 | — | — | — | — | — | — | — | — | — | — | 56.6 | 47.4 | 46.4 | — | — | — | — | |
| BEVFusion-CModality=Camera-only2025.08 | 81.7 | 54.8 | 58.4 | 50.7 | — | — | — | — | — | — | — | — | — | — | 56.6 | 47.4 | 46.4 | — | — | — | — | |
| MapPriorModality=Camera-only2025.08 | 81.7 | 54.6 | 58.3 | 53.3 | — | — | — | — | — | — | — | — | — | — | 56.7 | 46.7 | 45.1 | — | — | — | — | |
| RGCModality=Camera-only2025.08 | 81.7 | 57.1 | 60.5 | 53.8 | — | — | — | — | — | — | — | — | — | — | 59.7 | 51.7 | 53.5 | — | — | — | — | |
| CRNModality=C+R, Resolution=448×672, Backbone=Res101, Parameters=117.7M, FPS=25.0, Evaluation Protocol=Rerun under author's config2025.05 | 81.34 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 39.69 | 54.8 | — | 2.13 | 3 | |
| BEVFormer-SInput=C, Backbone=ResNet-1012024.09 | 80.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | 48.4 | — | — | 43.2 | 21.3 | — | — | |
| BEVFormer-SModality=C, Resolution=900×1600, Backbone=Res101, Parameters=68.7M, Evaluation Protocol=Official results2025.05 | 80.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 21.3 | 43.2 | — | 9.77 | 14.83 | |
| CGLSCLModality=C, Resolution=900×1600, Backbone=Res50, Parameters=2.7M, Evaluation Protocol=Official results2025.05 | 80.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 41.6 | — | 10.24 | — | |
| BEVCarModality=C+R, Resolution=448×672, Backbone=Res101, Parameters=95.5M, FPS=2.6, Evaluation Protocol=Rerun under author's config2025.05 | 79.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 43.07 | 54.17 | — | 3.41 | 2.73 | |
| Simple-BEVModality=C+R, Resolution=448×672, Backbone=Res101, Parameters=42.2M, FPS=7.6, Evaluation Protocol=Rerun under author's config2025.05 | 78.26 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 37.81 | 52.64 | — | 4.75 | 5.37 | |
| Simple-BEVInput=C+R, Backbone=ResNet-1012024.09 | 77.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | 55.4 | — | — | 52.7 | 35.8 | — | — | |
| BEVFormerModality=C, Resolution=900×1600, Backbone=Res101, Parameters=75.0M, FPS=1.7, Evaluation Protocol=Official results2025.05 | 77.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 23.9 | 46.7 | — | 9.62 | 13.87 | |
| M²BEVModality=C2022.05 | 77.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | 40.5 | — | — | — | — | — | — | |
| M2BEVModality=Camera-only2025.08 | 77.2 | — | — | 40.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RESAR-E2EModality=C+R, Resolution=448×672, Backbone=Res101, Parameters=31.0M, FPS=15.52025.05 | 77.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 41.5 | 52.9 | — | — | — | |
| RESAR-CameraModality=C, Resolution=448×672, Backbone=Res101, Parameters=30.8M, FPS=17.12025.05 | 76.88 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 40.2 | 46.6 | — | — | — | |
| BEVGuideInput=C+R, Backbone=EfficientNet2024.09 | 76.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | 60 | — | — | 59.2 | 44.2 | — | — | |
| BEVGuideModality=C+R, Resolution=224×480, Backbone=EffNet, FPS=24.0, Evaluation Protocol=Official results2025.05 | 76.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 44.2 | 59.2 | — | 1.05 | 0.4 | |
| MVPModality=C+L2022.05 | 76.1 | 48.7 | 57 | 33 | — | — | — | — | — | — | — | — | — | — | 49 | 36.9 | 42.2 | — | — | — | — | |
| PointPaintingModality=C+L2022.05 | 75.9 | 48.5 | 57.1 | 34.5 | — | — | — | — | — | — | — | — | — | — | 49.1 | 36.9 | 41.9 | — | — | — | — | |
| CenterPointModality=L2022.05 | 75.6 | 48.4 | 57.5 | 31.7 | — | — | — | — | — | — | — | — | — | — | 48.6 | 36.5 | 41.9 | — | — | — | — | |
| LSSModality=C2022.05 | 75.4 | 38.8 | 46.3 | 39.1 | — | — | — | — | — | — | — | — | — | — | 44.4 | 30.3 | 36.5 | — | — | — | — | |
| LSSModality=Camera-only2025.08 | 75.4 | 38.8 | 46.3 | 39.1 | — | — | — | — | — | — | — | — | — | — | 44.4 | 30.3 | 36.5 | — | — | — | — | |
| CVTModality=C2022.05 | 74.3 | 36.8 | 39.9 | 35 | — | — | — | — | — | — | — | — | — | — | 40.2 | 25.8 | 29.4 | — | — | — | — | |
| CVTInput=C, Backbone=EfficientNet2024.09 | 74.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | 46.6 | — | — | 36 | 29.4 | — | — | |
| CVTModality=C, Resolution=224×448, Backbone=EffNetB4, Parameters=4.3M, FPS=34.0, Evaluation Protocol=Official results2025.05 | 74.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 36 | — | 12.84 | — | |
| CVTModality=Camera-only2025.08 | 74.3 | 36.8 | 39.9 | 35 | — | — | — | — | — | — | — | — | — | — | 40.2 | 25.8 | 29.4 | — | — | — | — | |
| GENBEVModality=C, Resolution=800×600, Backbone=Res50, Parameters=86.4M, FPS=7.0, Evaluation Protocol=Official results2025.05 | 74.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 44.6 | — | 10.47 | — | |
| OFTModality=C2022.05 | 74 | 35.3 | 45.9 | 35.9 | — | — | — | — | — | — | — | — | — | — | 42.1 | 27.5 | 33.9 | — | — | — | — | |
| LSSModality=C, Resolution=128×352, Backbone=EffNetB0, Parameters=14.3M, FPS=25.0, Evaluation Protocol=Official results2025.05 | 72.94 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 19.96 | 32.07 | — | 9.44 | 11.4 | |
| PointPillarsModality=L2022.05 | 72 | 43.1 | 53.1 | 27.7 | — | — | — | — | — | — | — | — | — | — | 43.8 | 29.7 | 37.5 | — | — | — | — | |
| TaDe2024.04 | 65.9 | 40.9 | 42.3 | 30.7 | 38.5 | 0.142 | 0.428 | 11.4 | 0.182 | 26.3 | 26.9 | 0.14 | 15 | 21.4 | 29.2 | — | — | — | — | — | — | |
| DiffBEV2024.04 | 65.4 | 41.3 | 41.1 | 28.4 | 33.7 | 0.132 | 0.389 | 8.4 | 0.144 | 21.1 | 23.1 | 0.096 | 7.5 | 16.7 | 25.9 | — | — | — | — | — | — | |
| DiffBEVModality=C, Resolution=800×600, Backbone=SwinT, Parameters=78.8M, FPS=11.7, Evaluation Protocol=Official results2025.05 | 65.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 38.9 | — | 18.35 | — | |
| GitNet2024.04 | 65.1 | 41.6 | 42.1 | 31.9 | 35.4 | 0.138 | 0.434 | 9.7 | 0.15 | 22.5 | 25.5 | 0.141 | 11.6 | 18.6 | 27.9 | — | — | — | — | — | — | |
| OFT2024.04 | 62.4 | 30.9 | 34.5 | 23.5 | 23.2 | 0.046 | 0.347 | 3.7 | 0.066 | 18.2 | 17.4 | 0.012 | 1.1 | 12.9 | 19.6 | — | — | — | — | — | — | |
| EPOSH2024.04 | 61.1 | 33.5 | 37.8 | 25.4 | 31.8 | 0.067 | 0.378 | 2.7 | 0.105 | 14.2 | 20.4 | 0.059 | 7.6 | 13.4 | 22.1 | — | — | — | — | — | — | |
| Sim2real2024.04 | 60.5 | 27.1 | 19.2 | 18.3 | 6.9 | 0.038 | 0.071 | 0.3 | 0.045 | 3.2 | 4.7 | 0.018 | 4.2 | 12.1 | 12.4 | — | — | — | — | — | — | |
| PON2024.04 | 60.4 | 28 | 31 | 18.4 | 20.8 | 0.094 | 0.247 | 12.3 | 0.07 | 16.6 | 16.8 | 0.082 | 5.7 | 8.1 | 19.1 | — | — | — | — | — | — | |
| VPN2024.04 | 58 | 27.3 | 29.4 | 12.9 | 20 | 0.044 | 0.255 | 4.9 | 0.056 | 16.6 | 17.3 | 0.071 | 4.6 | 10.8 | 17.5 | — | — | — | — | — | — | |
| VED2024.04 | 54.7 | 12 | 20.7 | 13.5 | 0 | 0 | 0.088 | 0 | 0 | 7.4 | 0.2 | 0 | 0 | 4 | 8.7 | — | — | — | — | — | — | |
| IPM2024.04 | 40.1 | — | 14 | — | 3 | 0.002 | 0.049 | — | 0.008 | — | — | 0.006 | — | — | — | — | — | — | — | — | — | |
| Depth Unprojection2024.04 | 27.1 | — | 14.1 | — | 6.7 | 0.013 | 0.113 | — | 0.028 | — | — | 0.022 | — | — | — | — | — | — | — | — | — |