ResearchBenchmarksLiDAR Semantic Segmentation on nuScenes Beam-32 (1%)LiDAR Semantic Segmentation on nuScenes Beam-32 (1%)Follow39.68mIoUOmniLiDAR30.080832.572935.06537.5571May 13, 2026Evaluation resultsMethodMethodLinksmIoUOmniLiDARBackbone=MinkUNetBackbone=MinkUNet2026.0539.68OmniLiDARBackbone=SPVCNNBackbone=SPVCNN2026.0538.38Sup.-onlyBackbone=MinkUNetBackbone=MinkUNet2026.0533.27Sup.-onlyBackbone=SPVCNNBackbone=SPVCNN2026.0530.45