# LiDAR Segmentation on nuScenes Source: [LiDAR Segmentation on nuScenes]() Collection index: [llms.txt]() Data updated: 2026-02-26T06:10:53.147Z Evaluation of LiDAR Segmentation performance on the nuScenes dataset, reporting mean Intersection over Union (mIoU) calculated across specific sampling thresholds (1%, 10%, 20%, 50%). 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 | LiDAR Segmentation | | Dataset (including any stated split) | nuScenes | | Metric | mIoU (1%) | | Unit | PERCENT | | Direction | Higher is better | | Results loaded | 13 of 13 | | 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 - [mIoU (1%)](): Higher is better; unit: PERCENT. - [mIoU (10%)](): Higher is better; unit: PERCENT. - [mIoU (20%)](): Higher is better; unit: PERCENT. - [mIoU (50%)](): Higher is better; unit: PERCENT. ## Recorded results | Method | mIoU (1%) | Result date | Report paper | | --- | --- | --- | --- | | FrustumMix | 61.2 | Not recorded | 68fa77951e209131cea7422b | | FrustumMix | 60.3 | Not recorded | 68fa77951e209131cea7422b | | FrustumMix | 60 | Not recorded | 68fa77951e209131cea7422b | | LaserMix | 58.7 | Not recorded | 68fa77951e209131cea7422b | | LaserMix | 57.4 | Not recorded | 68fa77951e209131cea7422b | | PolarMix | 55.6 | Not recorded | 68fa77951e209131cea7422b | | LaserMix | 55.3 | Not recorded | 68fa77951e209131cea7422b | | PolarMix | 53.4 | Not recorded | 68fa77951e209131cea7422b | | Sup.-only | 51.9 | Not recorded | 68fa77951e209131cea7422b | | Sup.-only | 50.9 | Not recorded | 68fa77951e209131cea7422b | | LaserMix | 49.5 | Not recorded | 68fa77951e209131cea7422b | | Sup.-only | 48 | Not recorded | 68fa77951e209131cea7422b | | Sup.-only | 38.3 | Not recorded | 68fa77951e209131cea7422b | ### FrustumMix mIoU (1%): 61.2. Result ID: 699546913badfaffe634c86c. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"FRNet"}. This record does not assert independent reproduction. ### FrustumMix mIoU (1%): 60.3. Result ID: 699546913badfaffe634c868. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"PTv3"}. This record does not assert independent reproduction. ### FrustumMix mIoU (1%): 60. Result ID: 699546913badfaffe634c864. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"Cylinder3D"}. This record does not assert independent reproduction. ### LaserMix mIoU (1%): 58.7. Result ID: 699546913badfaffe634c86b. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"FRNet"}. This record does not assert independent reproduction. ### LaserMix mIoU (1%): 57.4. Result ID: 699546913badfaffe634c867. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"PTv3"}. This record does not assert independent reproduction. ### PolarMix mIoU (1%): 55.6. Result ID: 699546913badfaffe634c86a. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"FRNet"}. This record does not assert independent reproduction. ### LaserMix mIoU (1%): 55.3. Result ID: 699546913badfaffe634c863. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"Cylinder3D"}. This record does not assert independent reproduction. ### PolarMix mIoU (1%): 53.4. Result ID: 699546913badfaffe634c866. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"PTv3"}. This record does not assert independent reproduction. ### Sup.-only mIoU (1%): 51.9. Result ID: 699546913badfaffe634c869. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"FRNet"}. This record does not assert independent reproduction. ### Sup.-only mIoU (1%): 50.9. Result ID: 699546913badfaffe634c862. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"Cylinder3D"}. This record does not assert independent reproduction. ### LaserMix mIoU (1%): 49.5. Result ID: 699546913badfaffe634c861. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"FIDNet"}. This record does not assert independent reproduction. ### Sup.-only mIoU (1%): 48. Result ID: 699546913badfaffe634c865. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"PTv3"}. This record does not assert independent reproduction. ### Sup.-only mIoU (1%): 38.3. Result ID: 699546913badfaffe634c860. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"FIDNet"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.