# Future Semantic Segmentation on nuScenes (val)

Source: [Future Semantic Segmentation on nuScenes (val)](<https://www.sota2.com/research/sota/future-semantic-segmentation-on-nuscenes-val>)

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

Data updated: 2026-02-26T06:06:09.939Z

Evaluation of future semantic segmentation performance on the nuScenes validation set, reporting temporal IoU metrics (short/long range) and inference speed (FPS).

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 | Future Semantic Segmentation |
| Dataset (including any stated split) | nuScenes (val) |
| Metric | Temporal IoU (Long Range) |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 5 of 5 |
| 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

- [Temporal IoU (Long Range)](<https://www.sota2.com/research/sota/future-semantic-segmentation-on-nuscenes-val.md?metric=Temporal%20IoU%20(Long%20Range)>): Higher is better; unit: PERCENT.

- [Temporal IoU (Short Range)](<https://www.sota2.com/research/sota/future-semantic-segmentation-on-nuscenes-val.md?metric=Temporal%20IoU%20(Short%20Range)>): Higher is better; unit: PERCENT.

- [Inference Speed (FPS)](<https://www.sota2.com/research/sota/future-semantic-segmentation-on-nuscenes-val.md?metric=Inference%20Speed%20(FPS)>): Higher is better; unit: SCALAR.

## Recorded results

| Method | Temporal IoU (Long Range) | Result date | Report paper |
| --- | --- | --- | --- |
| TBP-Former | 41.9 | Not recorded | 68fa6ecd1e209131cea42387 |
| ST-P3 | 38.9 | Not recorded | 68fa6ecd1e209131cea42387 |
| BEVerse | 38.7 | Not recorded | 68fa6ecd1e209131cea42387 |
| StretchBEV | 37.1 | Not recorded | 68fa6ecd1e209131cea42387 |
| FIERY | 36.7 | Not recorded | 68fa6ecd1e209131cea42387 |

### TBP-Former

Temporal IoU (Long Range): 41.9. Result ID: 699044733a6c314849ff5586.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6ecd1e209131cea42387.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ecd1e209131cea42387.md>)

[Implementation](<https://github.com/MediaBrain-SJTU/TBP-Former>)

Recorded evaluation configuration: {"RGB Resolution":"224×480"}. This record does not assert independent reproduction.

### ST-P3

Temporal IoU (Long Range): 38.9. Result ID: 699044733a6c314849ff5584.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6ecd1e209131cea42387.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6cfc1e209131cea37225.md>)

[Implementation](<https://github.com/OpenPerceptionX/ST-P3>)

Recorded evaluation configuration: {"RGB Resolution":"224×480"}. This record does not assert independent reproduction.

### BEVerse

Temporal IoU (Long Range): 38.7. Result ID: 699044733a6c314849ff5585.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6ecd1e209131cea42387.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c9e1e209131cea34fb7.md>)

Recorded evaluation configuration: {"RGB Resolution":"256×704"}. This record does not assert independent reproduction.

### StretchBEV

Temporal IoU (Long Range): 37.1. Result ID: 699044733a6c314849ff5583.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6ecd1e209131cea42387.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d301e209131cea383ca.md>)

Recorded evaluation configuration: {"RGB Resolution":"224×480"}. This record does not assert independent reproduction.

### FIERY

Temporal IoU (Long Range): 36.7. Result ID: 699044733a6c314849ff5582.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6ecd1e209131cea42387.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6b121e209131cea2bf42.md>)

[Implementation](<https://github.com/wayveai/fiery>)

Recorded evaluation configuration: {"RGB Resolution":"224×480"}. This record does not assert independent reproduction.

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