ResearchBenchmarksLiDAR semantic segmentation on nuScenes Beam-32 (100%)LiDAR semantic segmentation on nuScenes Beam-32 (100%)Follow75.52mIoUOmniLiDAR7575.13575.2775.405May 13, 2026Evaluation resultsMethodMethodLinksmIoUOmniLiDARBackbone=SPVCNNBackbone=SPVCNN2026.0575.52Sup.-onlyBackbone=SPVCNNBackbone=SPVCNN2026.0575.34OmniLiDARBackbone=MinkUNetBackbone=MinkUNet2026.0575.25Sup.-onlyBackbone=MinkUNetBackbone=MinkUNet2026.0575.02