# BEV Vehicle Segmentation on nuScenes

Source: [BEV Vehicle Segmentation on nuScenes](<https://www.sota2.com/research/sota/bev-vehicle-segmentation-on-nuscenes>)

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

Data updated: 2026-03-20T10:38:50.125Z

Evaluation of Bird's Eye View (BEV) segmentation performance specifically targeting vehicles within the nuScenes dataset, 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 Vehicle Segmentation |
| Dataset (including any stated split) | nuScenes |
| Metric | Vehicle Segmentation IoU |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 34 of 34 |
| 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 Segmentation IoU](<https://www.sota2.com/research/sota/bev-vehicle-segmentation-on-nuscenes.md?metric=Vehicle%20Segmentation%20IoU>): Higher is better; unit: PERCENT.

## Recorded results

| Method | Vehicle Segmentation IoU | Result date | Report paper |
| --- | --- | --- | --- |
| Splat2BEV | 48.2 | Not recorded | 69bcd4920636e5bf4afc2a27 |
| PointBeV | 47.6 | Not recorded | 69bcd4920636e5bf4afc2a27 |
| GaussianLSS | 46.1 | Not recorded | 69bcd4920636e5bf4afc2a27 |
| BEVFormer | 45.5 | Not recorded | 69bcd4920636e5bf4afc2a27 |
| Simple-BEV | 44.9 | Not recorded | 69bcd4920636e5bf4afc2a27 |
| Splat2BEV | 44.6 | Not recorded | 69bcd4920636e5bf4afc2a27 |
| PointBeV | 44 | Not recorded | 69bcd4920636e5bf4afc2a27 |
| Simple-BEV | 43 | Not recorded | 69bcd4920636e5bf4afc2a27 |
| GaussianLSS | 42.8 | Not recorded | 69bcd4920636e5bf4afc2a27 |
| Splat2BEV | 42.7 | Not recorded | 69bcd4920636e5bf4afc2a27 |
| PointBeV | 42.1 | Not recorded | 69bcd4920636e5bf4afc2a27 |
| BEVFormer | 42 | Not recorded | 69bcd4920636e5bf4afc2a27 |
| BAEFormer | 41 | Not recorded | 69bcd4920636e5bf4afc2a27 |
| Simple-BEV | 40.9 | Not recorded | 69bcd4920636e5bf4afc2a27 |
| GaussianLSS | 40.6 | Not recorded | 69bcd4920636e5bf4afc2a27 |
| Splat2BEV | 39.6 | Not recorded | 69bcd4920636e5bf4afc2a27 |
| BEVFormer | 39 | Not recorded | 69bcd4920636e5bf4afc2a27 |
| BAEFormer | 38.9 | Not recorded | 69bcd4920636e5bf4afc2a27 |
| PointBeV | 38.7 | Not recorded | 68fa77ca1e209131cea755ad |
| PointBeV | 38.7 | Not recorded | 69bcd4920636e5bf4afc2a27 |
| GaussianLSS | 38.3 | Not recorded | 68fa77ca1e209131cea755ad |
| GaussianLSS | 38.3 | Not recorded | 69bcd4920636e5bf4afc2a27 |
| BAEFormer | 37.8 | Not recorded | 69bcd4920636e5bf4afc2a27 |
| CVT | 37.7 | Not recorded | 69bcd4920636e5bf4afc2a27 |
| SimpleBeV | 36.9 | Not recorded | 68fa77ca1e209131cea755ad |
| Simple-BEV | 36.9 | Not recorded | 69bcd4920636e5bf4afc2a27 |
| CVT | 36 | Not recorded | 69bcd4920636e5bf4afc2a27 |
| BAEFormer | 36 | Not recorded | 69bcd4920636e5bf4afc2a27 |
| BEVFormer | 35.8 | Not recorded | 68fa77ca1e209131cea755ad |
| FIERY static | 35.8 | Not recorded | 68fa77ca1e209131cea755ad |
| BEVFormer | 35.8 | Not recorded | 69bcd4920636e5bf4afc2a27 |
| CVT | 32.5 | Not recorded | 69bcd4920636e5bf4afc2a27 |
| CVT | 31.4 | Not recorded | 68fa77ca1e209131cea755ad |
| CVT | 31.4 | Not recorded | 69bcd4920636e5bf4afc2a27 |

### Splat2BEV

Vehicle Segmentation IoU: 48.2. Result ID: 69bd23b947f34ce924a808bf.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

Recorded evaluation configuration: {"Visibility filtering":"Yes","Resolution":"448 × 800"}. This record does not assert independent reproduction.

### PointBeV

Vehicle Segmentation IoU: 47.6. Result ID: 69bd23b947f34ce924a808af.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

Recorded evaluation configuration: {"Visibility filtering":"Yes","Resolution":"448 × 800"}. This record does not assert independent reproduction.

### GaussianLSS

Vehicle Segmentation IoU: 46.1. Result ID: 69bd23b947f34ce924a808bb.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77ca1e209131cea755ad.md>)

[Implementation](<https://hcis-lab.github.io/GaussianLSS/>)

Recorded evaluation configuration: {"Visibility filtering":"Yes","Resolution":"448 × 800"}. This record does not assert independent reproduction.

### BEVFormer

Vehicle Segmentation IoU: 45.5. Result ID: 69bd23b947f34ce924a808a7.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

Recorded evaluation configuration: {"Visibility filtering":"Yes","Resolution":"448 × 800"}. This record does not assert independent reproduction.

### Simple-BEV

Vehicle Segmentation IoU: 44.9. Result ID: 69bd23b947f34ce924a808ab.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d831e209131cea3a41c.md>)

[Implementation](<https://simple-bev.github.io/>)

Recorded evaluation configuration: {"Visibility filtering":"Yes","Resolution":"448 × 800"}. This record does not assert independent reproduction.

### Splat2BEV

Vehicle Segmentation IoU: 44.6. Result ID: 69bd23b947f34ce924a808be.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

Recorded evaluation configuration: {"Visibility filtering":"Yes","Resolution":"224 × 480"}. This record does not assert independent reproduction.

### PointBeV

Vehicle Segmentation IoU: 44. Result ID: 69bd23b947f34ce924a808ae.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

Recorded evaluation configuration: {"Visibility filtering":"Yes","Resolution":"224 × 480"}. This record does not assert independent reproduction.

### Simple-BEV

Vehicle Segmentation IoU: 43. Result ID: 69bd23b947f34ce924a808aa.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d831e209131cea3a41c.md>)

[Implementation](<https://simple-bev.github.io/>)

Recorded evaluation configuration: {"Visibility filtering":"Yes","Resolution":"224 × 480"}. This record does not assert independent reproduction.

### GaussianLSS

Vehicle Segmentation IoU: 42.8. Result ID: 69bd23b947f34ce924a808ba.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77ca1e209131cea755ad.md>)

[Implementation](<https://hcis-lab.github.io/GaussianLSS/>)

Recorded evaluation configuration: {"Visibility filtering":"Yes","Resolution":"224 × 480"}. This record does not assert independent reproduction.

### Splat2BEV

Vehicle Segmentation IoU: 42.7. Result ID: 69bd23b947f34ce924a808bd.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

Recorded evaluation configuration: {"Visibility filtering":"No","Resolution":"448 × 800"}. This record does not assert independent reproduction.

### PointBeV

Vehicle Segmentation IoU: 42.1. Result ID: 69bd23b947f34ce924a808ad.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

Recorded evaluation configuration: {"Visibility filtering":"No","Resolution":"448 × 800"}. This record does not assert independent reproduction.

### BEVFormer

Vehicle Segmentation IoU: 42. Result ID: 69bd23b947f34ce924a808a6.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

Recorded evaluation configuration: {"Visibility filtering":"Yes","Resolution":"224 × 480"}. This record does not assert independent reproduction.

### BAEFormer

Vehicle Segmentation IoU: 41. Result ID: 69bd23b947f34ce924a808b7.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

Recorded evaluation configuration: {"Visibility filtering":"Yes","Resolution":"448 × 800"}. This record does not assert independent reproduction.

### Simple-BEV

Vehicle Segmentation IoU: 40.9. Result ID: 69bd23b947f34ce924a808a9.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d831e209131cea3a41c.md>)

[Implementation](<https://simple-bev.github.io/>)

Recorded evaluation configuration: {"Visibility filtering":"No","Resolution":"448 × 800"}. This record does not assert independent reproduction.

### GaussianLSS

Vehicle Segmentation IoU: 40.6. Result ID: 69bd23b947f34ce924a808b9.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77ca1e209131cea755ad.md>)

[Implementation](<https://hcis-lab.github.io/GaussianLSS/>)

Recorded evaluation configuration: {"Visibility filtering":"No","Resolution":"448 × 800"}. This record does not assert independent reproduction.

### Splat2BEV

Vehicle Segmentation IoU: 39.6. Result ID: 69bd23b947f34ce924a808bc.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

Recorded evaluation configuration: {"Visibility filtering":"No","Resolution":"224 × 480"}. This record does not assert independent reproduction.

### BEVFormer

Vehicle Segmentation IoU: 39. Result ID: 69bd23b947f34ce924a808a5.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

Recorded evaluation configuration: {"Visibility filtering":"No","Resolution":"448 × 800"}. This record does not assert independent reproduction.

### BAEFormer

Vehicle Segmentation IoU: 38.9. Result ID: 69bd23b947f34ce924a808b6.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

Recorded evaluation configuration: {"Visibility filtering":"Yes","Resolution":"224 × 480"}. This record does not assert independent reproduction.

### PointBeV

Vehicle Segmentation IoU: 38.7. Result ID: 69956a4f3badfaffe65e540e.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77ca1e209131cea755ad.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa73411e209131cea5b4ba.md>)

[Implementation](<https://github.com/valeoai/PointBeV>)

Recorded evaluation configuration: {"FPS":32,"Memory (GiB)":1.26}. This record does not assert independent reproduction.

### PointBeV

Vehicle Segmentation IoU: 38.7. Result ID: 69bd23b947f34ce924a808ac.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

Recorded evaluation configuration: {"Visibility filtering":"No","Resolution":"224 × 480"}. This record does not assert independent reproduction.

### GaussianLSS

Vehicle Segmentation IoU: 38.3. Result ID: 69956a4f3badfaffe65e5411.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77ca1e209131cea755ad.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77ca1e209131cea755ad.md>)

[Implementation](<https://hcis-lab.github.io/GaussianLSS/>)

Recorded evaluation configuration: {"FPS":80.2,"Memory (GiB)":0.33}. This record does not assert independent reproduction.

### GaussianLSS

Vehicle Segmentation IoU: 38.3. Result ID: 69bd23b947f34ce924a808b8.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77ca1e209131cea755ad.md>)

[Implementation](<https://hcis-lab.github.io/GaussianLSS/>)

Recorded evaluation configuration: {"Visibility filtering":"No","Resolution":"224 × 480"}. This record does not assert independent reproduction.

### BAEFormer

Vehicle Segmentation IoU: 37.8. Result ID: 69bd23b947f34ce924a808b5.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

Recorded evaluation configuration: {"Visibility filtering":"No","Resolution":"448 × 800"}. This record does not assert independent reproduction.

### CVT

Vehicle Segmentation IoU: 37.7. Result ID: 69bd23b947f34ce924a808b3.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c751e209131cea340a7.md>)

[Implementation](<https://github.com/bradyz/cross_view_transformers>)

Recorded evaluation configuration: {"Visibility filtering":"Yes","Resolution":"448 × 800"}. This record does not assert independent reproduction.

### SimpleBeV

Vehicle Segmentation IoU: 36.9. Result ID: 69956a4f3badfaffe65e540d.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77ca1e209131cea755ad.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d831e209131cea3a41c.md>)

[Implementation](<https://simple-bev.github.io/>)

Recorded evaluation configuration: {"FPS":37.1,"Memory (GiB)":3.31}. This record does not assert independent reproduction.

### Simple-BEV

Vehicle Segmentation IoU: 36.9. Result ID: 69bd23b947f34ce924a808a8.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d831e209131cea3a41c.md>)

[Implementation](<https://simple-bev.github.io/>)

Recorded evaluation configuration: {"Visibility filtering":"No","Resolution":"224 × 480"}. This record does not assert independent reproduction.

### CVT

Vehicle Segmentation IoU: 36. Result ID: 69bd23b947f34ce924a808b2.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c751e209131cea340a7.md>)

[Implementation](<https://github.com/bradyz/cross_view_transformers>)

Recorded evaluation configuration: {"Visibility filtering":"Yes","Resolution":"224 × 480"}. This record does not assert independent reproduction.

### BAEFormer

Vehicle Segmentation IoU: 36. Result ID: 69bd23b947f34ce924a808b4.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

Recorded evaluation configuration: {"Visibility filtering":"No","Resolution":"224 × 480"}. This record does not assert independent reproduction.

### BEVFormer

Vehicle Segmentation IoU: 35.8. Result ID: 69956a4f3badfaffe65e540c.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77ca1e209131cea755ad.md>)

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

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

Recorded evaluation configuration: {"FPS":34.7,"Memory (GiB)":0.47}. This record does not assert independent reproduction.

### FIERY static

Vehicle Segmentation IoU: 35.8. Result ID: 69956a4f3badfaffe65e540f.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77ca1e209131cea755ad.md>)

Recorded evaluation configuration: {"FPS":27.3,"Memory (GiB)":0.4}. This record does not assert independent reproduction.

### BEVFormer

Vehicle Segmentation IoU: 35.8. Result ID: 69bd23b947f34ce924a808a4.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

Recorded evaluation configuration: {"Visibility filtering":"No","Resolution":"224 × 480"}. This record does not assert independent reproduction.

### CVT

Vehicle Segmentation IoU: 32.5. Result ID: 69bd23b947f34ce924a808b1.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c751e209131cea340a7.md>)

[Implementation](<https://github.com/bradyz/cross_view_transformers>)

Recorded evaluation configuration: {"Visibility filtering":"No","Resolution":"448 × 800"}. This record does not assert independent reproduction.

### CVT

Vehicle Segmentation IoU: 31.4. Result ID: 69956a4f3badfaffe65e5410.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77ca1e209131cea755ad.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c751e209131cea340a7.md>)

[Implementation](<https://github.com/bradyz/cross_view_transformers>)

Recorded evaluation configuration: {"FPS":107.6,"Memory (GiB)":0.35}. This record does not assert independent reproduction.

### CVT

Vehicle Segmentation IoU: 31.4. Result ID: 69bd23b947f34ce924a808b0.

[Reporting paper](<https://www.sota2.com/research/paper/69bcd4920636e5bf4afc2a27.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c751e209131cea340a7.md>)

[Implementation](<https://github.com/bradyz/cross_view_transformers>)

Recorded evaluation configuration: {"Visibility filtering":"No","Resolution":"224 × 480"}. This record does not assert independent reproduction.

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