BEV Vehicle Segmentation on nuScenes (val)
39.9IoU (No Filter, 224x480)PointBeV-T
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| PointBeV-TBackbone=EfficientNet-b4, Temporal=true2023.12 | 39.9 | 43.2 | 44.7 | 48.7 | — | |
| PointBeV-TBackbone=ResNet-50, Temporal=true2023.12 | 39.9 | 43.2 | 44.1 | 47.7 | — | |
| PointBeVBackbone=EfficientNet-b4, Temporal=false2023.12 | 38.7 | 42.1 | 44 | 47.6 | — | |
| FIERYBackbone=EfficientNet-b4, Temporal=true2023.12 | 38.2 | — | — | — | — | |
| PointBeVBackbone=ResNet-50, Temporal=false2023.12 | 38.1 | 41.7 | 43.7 | 47 | — | |
| Simple-BEVBackbone=ResNet-50, Temporal=false2023.12 | 36.9 | 40.9 | 43 | 46.6 | — | |
| BAEFormerBackbone=EfficientNet-b4, Temporal=false2023.12 | 36 | 37.8 | 38.9 | 41 | — | |
| FIERY staticBackbone=EfficientNet-b4, Temporal=false2023.12 | 35.8 | — | 39.8 | — | — | |
| BEVFormerBackbone=ResNet-50, Temporal=false2023.12 | 35.8 | 39 | 42 | 45.5 | — | |
| LaRaBackbone=EfficientNet-b4, Temporal=false2023.12 | 35.4 | — | 38.9 | — | — | |
| CVTBackbone=EfficientNet-b4, Temporal=false2023.12 | 31.4 | 32.5 | 36 | 37.7 | — | |
| BEVCarCode=true, Cam Enc=DINOv2/B+Adapter, Radar Enc=PFE+Conv, Resolution=(448, 896), Visibility filtering=true2026.02 | — | — | — | — | 58.4 | |
| BEVFormerCode=true, Cam Enc=RN-101, Radar Enc=None, Resolution=(448, 800), Visibility filtering=true2026.02 | — | — | — | — | 43.2 | |
| BEVGuideCode=false, Cam Enc=EN-b4, Radar Enc=SECOND, Resolution=(448, 800), Visibility filtering=true2026.02 | — | — | — | — | 59.2 | |
| CRNCode=false, Cam Enc=RN-50, Radar Enc=SECOND, Resolution=(448, 800), Visibility filtering=true, Input frames=4 (3 past, 1 current)2026.02 | — | — | — | — | 58.8 | |
| GaussianBeVCode=false, Cam Enc=EN-b4, Radar Enc=None, Resolution=(448, 800), Visibility filtering=true2026.02 | — | — | — | — | 50.3 | |
| GaussianCaRCode=true, Cam Enc=EViT-L2, Radar Enc=PTv3, Resolution=(448, 800), Visibility filtering=true2026.02 | — | — | — | — | 57.3 | |
| GaussianLSSCode=true, Cam Enc=RN-101, Radar Enc=None, Resolution=(448, 800), Visibility filtering=true2026.02 | — | — | — | — | 46.1 | |
| PointBeVCode=true, Cam Enc=EN-b4, Radar Enc=None, Resolution=(448, 800), Visibility filtering=true2026.02 | — | — | — | — | 47.8 | |
| SimpleBEVCode=true, Cam Enc=RN-101, Radar Enc=None, Resolution=(448, 800), Visibility filtering=true2026.02 | — | — | — | — | 47.4 | |
| SimpleBEVCode=true, Cam Enc=RN-101, Radar Enc=Conv, Resolution=(448, 800), Visibility filtering=true2026.02 | — | — | — | — | 55.7 | |
| SimpleBEV++Code=true, Cam Enc=RN-101, Radar Enc=PFE+Conv, Resolution=(448, 896), Visibility filtering=true2026.02 | — | — | — | — | 52.7 |