Bird's-Eye-View Semantic Segmentation on nuScenes benchmark leaderboard · SOTA2 Research

Bird's-Eye-View Semantic Segmentation on nuScenes

78.5Driv. Area ScoreBEVFormer + DiffBEV

Evaluation Results

Method	Links
BEVFormer + DiffBEV2026.06		78.5	41.3	49.6	54.8	47.6	36.9	9.6	45.4
BEVFormer2026.06		78.3	41.5	51.1	54.4	45.9	37.5	9.6	45.5
BEVFormer + BEV-Denoise2026.06		78.3	40.2	48.4	53	41.2	35.2	12	44
BEVFormer + BEV-Denoise2026.06		77.9	39.5	47	51.9	43.1	35.2	11.9	43.8
CVT + BEV-Denoise2026.06		77.2	35.2	44.7	50.8	42.7	30.9	9.4	41.5
BEVFormer + TD2026.06		77.2	37.6	45.1	50.5	38.7	35.3	11.9	42.3
CVT + BEV-Denoise2026.06		76.1	34.6	42.8	49.6	41.8	30.9	9.4	40.8
CVT + DiffBEV2026.06		75.1	33	38.6	45.9	43.8	28.1	3.4	38.2
CVT2026.06		74.9	32.9	38.6	45.3	41.3	28.1	3.3	37.7
LSS + BEV-Denoise2026.06		73.4	31.2	37.2	44.8	37.3	15.3	1.5	34.3
LSS + BEV-Denoise2026.06		73.1	30.9	36.1	44.2	37	15.2	1.5	34
CVT + TD2026.06		72.7	30.5	34.8	44.5	36.6	30.8	9.4	36.9
LSS2026.06		72.7	30.5	37.3	43.4	37.5	14.4	1.3	33.8
PETR + BEV-Denoise2026.06		72.1	31.3	34.8	42.8	37.2	21.5	2.9	34.6
LSS + TD2026.06		72.1	30.1	34.4	43	35.6	15.3	1.5	33.1
PETR + BEV-Denoise2026.06		72	30.9	34	42.5	37	21.5	2.9	34.4
LSS + DiffBEV2026.06		71.5	30	35.5	42.3	36.5	13.1	1.3	32.7
PETR + TD2026.06		71.2	30.2	32.7	41.6	36.2	21.6	2.9	33.7
PETR2026.06		70.7	30.6	35.8	41.1	36.2	18	1.1	33.3
PETR + DiffBEV2026.06		67.8	28.7	30	38	35.1	15.5	1.3	30.9