# BEV Vehicle Segmentation on nuScenes v1.0 (val) Source: [BEV Vehicle Segmentation on nuScenes v1.0 (val)]() Collection index: [llms.txt]() Data updated: 2026-02-26T06:08:12.108Z Evaluation of Bird's Eye View (BEV) segmentation performance specifically targeting the Vehicle class on the nuScenes v1.0 validation split, measured using Intersection over Union (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 segmentation (Vehicle) | | Dataset (including any stated split) | nuScenes v1.0-trainval (val) | | Metric | Vehicle BEV IoU | | Unit | PERCENT | | Direction | Higher is better | | Results loaded | 28 of 28 | | 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 BEV IoU](): Higher is better; unit: PERCENT. ## Recorded results | Method | Vehicle BEV IoU | Result date | Report paper | | --- | --- | --- | --- | | PointBeV | 47.6 | Not recorded | 68fa77ca1e209131cea755ad | | GaussianLSS | 46.1 | Not recorded | 68fa77ca1e209131cea755ad | | BEVFormer | 45.5 | Not recorded | 68fa77ca1e209131cea755ad | | Simple-BEV | 44.9 | Not recorded | 68fa77ca1e209131cea755ad | | PointBeV | 44 | Not recorded | 68fa77ca1e209131cea755ad | | Simple-BEV | 43 | Not recorded | 68fa77ca1e209131cea755ad | | GaussianLSS | 42.8 | Not recorded | 68fa77ca1e209131cea755ad | | PointBeV | 42.1 | Not recorded | 68fa77ca1e209131cea755ad | | BEVFormer | 42 | Not recorded | 68fa77ca1e209131cea755ad | | BAEFormer | 41 | Not recorded | 68fa77ca1e209131cea755ad | | Simple-BEV | 40.9 | Not recorded | 68fa77ca1e209131cea755ad | | GaussianLSS | 40.6 | Not recorded | 68fa77ca1e209131cea755ad | | FIERY static | 39.8 | Not recorded | 68fa77ca1e209131cea755ad | | BEVFormer | 39 | Not recorded | 68fa77ca1e209131cea755ad | | LaRa | 38.9 | Not recorded | 68fa77ca1e209131cea755ad | | BAEFormer | 38.9 | Not recorded | 68fa77ca1e209131cea755ad | | PointBeV | 38.7 | Not recorded | 68fa77ca1e209131cea755ad | | GaussianLSS | 38.3 | Not recorded | 68fa77ca1e209131cea755ad | | BAEFormer | 37.8 | Not recorded | 68fa77ca1e209131cea755ad | | CVT | 37.7 | Not recorded | 68fa77ca1e209131cea755ad | | Simple-BEV | 36.9 | Not recorded | 68fa77ca1e209131cea755ad | | CVT | 36 | Not recorded | 68fa77ca1e209131cea755ad | | BAEFormer | 36 | Not recorded | 68fa77ca1e209131cea755ad | | BEVFormer | 35.8 | Not recorded | 68fa77ca1e209131cea755ad | | FIERY static | 35.8 | Not recorded | 68fa77ca1e209131cea755ad | | LaRa | 35.4 | Not recorded | 68fa77ca1e209131cea755ad | | CVT | 32.5 | Not recorded | 68fa77ca1e209131cea755ad | | CVT | 31.4 | Not recorded | 68fa77ca1e209131cea755ad | ### PointBeV Vehicle BEV IoU: 47.6. Result ID: 69956a4f3badfaffe65e5425. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"EN-b4","Visibility filtering":true,"Resolution":"448x800"}. This record does not assert independent reproduction. ### GaussianLSS Vehicle BEV IoU: 46.1. Result ID: 69956a4f3badfaffe65e5435. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"EN-b4","Visibility filtering":true,"Resolution":"448x800"}. This record does not assert independent reproduction. ### BEVFormer Vehicle BEV IoU: 45.5. Result ID: 69956a4f3badfaffe65e541d. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"RN-50","Visibility filtering":true,"Resolution":"448x800"}. This record does not assert independent reproduction. ### Simple-BEV Vehicle BEV IoU: 44.9. Result ID: 69956a4f3badfaffe65e5421. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"RN-50","Visibility filtering":true,"Resolution":"448x800"}. This record does not assert independent reproduction. ### PointBeV Vehicle BEV IoU: 44. Result ID: 69956a4f3badfaffe65e5424. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"EN-b4","Visibility filtering":true,"Resolution":"224x480"}. This record does not assert independent reproduction. ### Simple-BEV Vehicle BEV IoU: 43. Result ID: 69956a4f3badfaffe65e5420. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"RN-50","Visibility filtering":true,"Resolution":"224x480"}. This record does not assert independent reproduction. ### GaussianLSS Vehicle BEV IoU: 42.8. Result ID: 69956a4f3badfaffe65e5434. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"EN-b4","Visibility filtering":true,"Resolution":"224x480"}. This record does not assert independent reproduction. ### PointBeV Vehicle BEV IoU: 42.1. Result ID: 69956a4f3badfaffe65e5423. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"EN-b4","Visibility filtering":false,"Resolution":"448x800"}. This record does not assert independent reproduction. ### BEVFormer Vehicle BEV IoU: 42. Result ID: 69956a4f3badfaffe65e541c. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"RN-50","Visibility filtering":true,"Resolution":"224x480"}. This record does not assert independent reproduction. ### BAEFormer Vehicle BEV IoU: 41. Result ID: 69956a4f3badfaffe65e5431. [Reporting paper]() Recorded evaluation configuration: {"Backbone":"EN-b4","Visibility filtering":true,"Resolution":"448x800"}. This record does not assert independent reproduction. ### Simple-BEV Vehicle BEV IoU: 40.9. Result ID: 69956a4f3badfaffe65e541f. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"RN-50","Visibility filtering":false,"Resolution":"448x800"}. This record does not assert independent reproduction. ### GaussianLSS Vehicle BEV IoU: 40.6. Result ID: 69956a4f3badfaffe65e5433. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"EN-b4","Visibility filtering":false,"Resolution":"448x800"}. This record does not assert independent reproduction. ### FIERY static Vehicle BEV IoU: 39.8. Result ID: 69956a4f3badfaffe65e5427. [Reporting paper]() Recorded evaluation configuration: {"Backbone":"EN-b4","Visibility filtering":true,"Resolution":"224x480"}. This record does not assert independent reproduction. ### BEVFormer Vehicle BEV IoU: 39. Result ID: 69956a4f3badfaffe65e541b. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"RN-50","Visibility filtering":false,"Resolution":"448x800"}. This record does not assert independent reproduction. ### LaRa Vehicle BEV IoU: 38.9. Result ID: 69956a4f3badfaffe65e542d. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"EN-b4","Visibility filtering":true,"Resolution":"224x480"}. This record does not assert independent reproduction. ### BAEFormer Vehicle BEV IoU: 38.9. Result ID: 69956a4f3badfaffe65e5430. [Reporting paper]() Recorded evaluation configuration: {"Backbone":"EN-b4","Visibility filtering":true,"Resolution":"224x480"}. This record does not assert independent reproduction. ### PointBeV Vehicle BEV IoU: 38.7. Result ID: 69956a4f3badfaffe65e5422. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"EN-b4","Visibility filtering":false,"Resolution":"224x480"}. This record does not assert independent reproduction. ### GaussianLSS Vehicle BEV IoU: 38.3. Result ID: 69956a4f3badfaffe65e5432. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"EN-b4","Visibility filtering":false,"Resolution":"224x480"}. This record does not assert independent reproduction. ### BAEFormer Vehicle BEV IoU: 37.8. Result ID: 69956a4f3badfaffe65e542f. [Reporting paper]() Recorded evaluation configuration: {"Backbone":"EN-b4","Visibility filtering":false,"Resolution":"448x800"}. This record does not assert independent reproduction. ### CVT Vehicle BEV IoU: 37.7. Result ID: 69956a4f3badfaffe65e542b. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"EN-b4","Visibility filtering":true,"Resolution":"448x800"}. This record does not assert independent reproduction. ### Simple-BEV Vehicle BEV IoU: 36.9. Result ID: 69956a4f3badfaffe65e541e. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"RN-50","Visibility filtering":false,"Resolution":"224x480"}. This record does not assert independent reproduction. ### CVT Vehicle BEV IoU: 36. Result ID: 69956a4f3badfaffe65e542a. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"EN-b4","Visibility filtering":true,"Resolution":"224x480"}. This record does not assert independent reproduction. ### BAEFormer Vehicle BEV IoU: 36. Result ID: 69956a4f3badfaffe65e542e. [Reporting paper]() Recorded evaluation configuration: {"Backbone":"EN-b4","Visibility filtering":false,"Resolution":"224x480"}. This record does not assert independent reproduction. ### BEVFormer Vehicle BEV IoU: 35.8. Result ID: 69956a4f3badfaffe65e541a. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"RN-50","Visibility filtering":false,"Resolution":"224x480"}. This record does not assert independent reproduction. ### FIERY static Vehicle BEV IoU: 35.8. Result ID: 69956a4f3badfaffe65e5426. [Reporting paper]() Recorded evaluation configuration: {"Backbone":"EN-b4","Visibility filtering":false,"Resolution":"224x480"}. This record does not assert independent reproduction. ### LaRa Vehicle BEV IoU: 35.4. Result ID: 69956a4f3badfaffe65e542c. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"EN-b4","Visibility filtering":false,"Resolution":"224x480"}. This record does not assert independent reproduction. ### CVT Vehicle BEV IoU: 32.5. Result ID: 69956a4f3badfaffe65e5429. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"EN-b4","Visibility filtering":false,"Resolution":"448x800"}. This record does not assert independent reproduction. ### CVT Vehicle BEV IoU: 31.4. Result ID: 69956a4f3badfaffe65e5428. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"EN-b4","Visibility filtering":false,"Resolution":"224x480"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.