Panoptic Segmentation on nuScenes (val)
72.3PQPointINS
Evaluation results
| Method | Links | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| PointINSBackbone=Point Transformer v3, Evaluation Protocol=fine-tuning2026.03 | 72.3 | 82.3 | 87.4 | — | — | — | — | — | — | — | |
| NOMAEBackbone=Point Transformer v3, Evaluation Protocol=fine-tuning2026.03 | 71 | 80.8 | 86.5 | — | — | — | — | — | — | — | |
| PointINSBackbone=Point Transformer v3, Evaluation Protocol=decoder tuning2026.03 | 70.8 | 80.6 | 86.6 | — | — | — | — | — | — | — | |
| DOSBackbone=Point Transformer v3, Evaluation Protocol=fine-tuning2026.03 | 70.5 | 81.1 | 86 | — | — | — | — | — | — | — | |
| SonataBackbone=Point Transformer v3, Evaluation Protocol=fine-tuning2026.03 | 70 | 80.5 | 86.4 | — | — | — | — | — | — | — | |
| PTv3Evaluation protocol=supervised2026.03 | 69.9 | 80.5 | 86.3 | — | — | — | — | — | — | — | |
| PTv3 (sup.)Backbone=Point Transformer v3, Evaluation Protocol=Supervised2026.03 | 69.9 | 80.5 | 86.3 | — | — | — | — | — | — | — | |
| PolarStreamNumber of Sectors=4, Context Padding=Bidirectional (CP x2)2021.06 | 69.6 | — | — | — | — | — | — | — | — | — | |
| SegContrastBackbone=Point Transformer v3, Evaluation Protocol=fine-tuning2026.03 | 69.3 | 80.3 | 85.9 | — | — | — | — | — | — | — | |
| PolarStreamNumber of Sectors=16, Context Padding=Bidirectional (CP x2)2021.06 | 69.2 | — | — | — | — | — | — | — | — | — | |
| PSABackbone=Point Transformer v3, Evaluation Protocol=fine-tuning2026.03 | 69.2 | 80 | 86 | — | — | — | — | — | — | — | |
| DOSBackbone=Point Transformer v3, Evaluation Protocol=decoder tuning2026.03 | 69.1 | 79 | 85.3 | — | — | — | — | — | — | — | |
| NOMAEBackbone=Point Transformer v3, Evaluation Protocol=decoder tuning2026.03 | 69 | 79.3 | 85.6 | — | — | — | — | — | — | — | |
| PolarStreamNumber of Sectors=2, Context Padding=Bidirectional (CP x2)2021.06 | 68.8 | — | — | — | — | — | — | — | — | — | |
| PolarStreamNumber of Sectors=8, Context Padding=Bidirectional (CP x2)2021.06 | 68.8 | — | — | — | — | — | — | — | — | — | |
| Polar PillarsNumber of Sectors=12021.06 | 68.7 | — | — | — | — | — | — | — | — | — | |
| Polar PillarsNumber of Sectors=22021.06 | 68.6 | — | — | — | — | — | — | — | — | — | |
| PolarStreamNumber of Sectors=32, Context Padding=Bidirectional (CP x2)2021.06 | 68.3 | — | — | — | — | — | — | — | — | — | |
| Cartesian PillarsNumber of Sectors=12021.06 | 67.8 | — | — | — | — | — | — | — | — | — | |
| Polar PillarsNumber of Sectors=42021.06 | 67.7 | — | — | — | — | — | — | — | — | — | |
| Cartesian PillarsNumber of Sectors=42021.06 | 67.6 | — | — | — | — | — | — | — | — | — | |
| Han et al.Number of Sectors=42021.06 | 67.4 | — | — | — | — | — | — | — | — | — | |
| Cartesian PillarsNumber of Sectors=22021.06 | 66.8 | — | — | — | — | — | — | — | — | — | |
| Han et al.Number of Sectors=22021.06 | 66.3 | — | — | — | — | — | — | — | — | — | |
| Han et al.Number of Sectors=82021.06 | 66.2 | — | — | — | — | — | — | — | — | — | |
| STROBENumber of Sectors=42021.06 | 66.2 | — | — | — | — | — | — | — | — | — | |
| Polar PillarsNumber of Sectors=82021.06 | 66.2 | — | — | — | — | — | — | — | — | — | |
| SonataBackbone=Point Transformer v3, Evaluation Protocol=decoder tuning2026.03 | 66 | 76.8 | 85.2 | — | — | — | — | — | — | — | |
| Cartesian PillarsNumber of Sectors=82021.06 | 65.5 | — | — | — | — | — | — | — | — | — | |
| STROBENumber of Sectors=22021.06 | 65.2 | — | — | — | — | — | — | — | — | — | |
| STROBENumber of Sectors=82021.06 | 65.2 | — | — | — | — | — | — | — | — | — | |
| PointINS*Evaluation protocol=linear probing2026.03 | 64.7 | 74.2 | 84.9 | — | — | — | — | — | — | — | |
| Han et al.Number of Sectors=162021.06 | 64.6 | — | — | — | — | — | — | — | — | — | |
| Cartesian PillarsNumber of Sectors=162021.06 | 64.1 | — | — | — | — | — | — | — | — | — | |
| Polar PillarsNumber of Sectors=162021.06 | 63.9 | — | — | — | — | — | — | — | — | — | |
| STROBENumber of Sectors=12021.06 | 63.8 | — | — | — | — | — | — | — | — | — | |
| STROBENumber of Sectors=162021.06 | 62.9 | — | — | — | — | — | — | — | — | — | |
| PointINSBackbone=Point Transformer v3, Evaluation Protocol=linear probing2026.03 | 62.2 | 72.8 | 84.5 | — | — | — | — | — | — | — | |
| PSABackbone=Point Transformer v3, Evaluation Protocol=decoder tuning2026.03 | 62.2 | 73.3 | 84.1 | — | — | — | — | — | — | — | |
| Han et al.Number of Sectors=322021.06 | 61.6 | — | — | — | — | — | — | — | — | — | |
| DOS*Evaluation protocol=linear probing2026.03 | 60.9 | 71.5 | 82.6 | — | — | — | — | — | — | — | |
| SegContrastBackbone=Point Transformer v3, Evaluation Protocol=decoder tuning2026.03 | 60.7 | 71.7 | 83.9 | — | — | — | — | — | — | — | |
| Polar PillarsNumber of Sectors=322021.06 | 60.3 | — | — | — | — | — | — | — | — | — | |
| Cartesian PillarsNumber of Sectors=322021.06 | 59.8 | — | — | — | — | — | — | — | — | — | |
| STROBENumber of Sectors=322021.06 | 59.5 | — | — | — | — | — | — | — | — | — | |
| DOSBackbone=Point Transformer v3, Evaluation Protocol=linear probing2026.03 | 57.4 | 68.5 | 82.8 | — | — | — | — | — | — | — | |
| Sonata*Evaluation protocol=linear probing2026.03 | 54.9 | 66 | 81 | — | — | — | — | — | — | — | |
| SonataBackbone=Point Transformer v3, Evaluation Protocol=linear probing2026.03 | 50.7 | 61.6 | 79.8 | — | — | — | — | — | — | — | |
| LOSC2025.07 | 48.4 | 58.1 | 71.1 | 46.7 | — | — | 51.3 | — | — | 49.8 | |
| NOMAEBackbone=Point Transformer v3, Evaluation Protocol=linear probing2026.03 | 45.5 | 56.4 | 77 | — | — | — | — | — | — | — | |
| DS-Net2022.03 | 42.5 | 51 | 83.6 | 32.5 | 38.3 | 83.1 | 59.2 | 70.3 | 84.4 | 70.7 | |
| Cylinder3D + SECONDSemantic Segmentation=Cylinder3D, Detection=SECOND2022.03 | 40.1 | 48.4 | 84.2 | 29 | 33.6 | 84.4 | 58.5 | 70.1 | 83.7 | 58.5 | |
| SAL2025.07 | 38.4 | 47.8 | 77.2 | 47.5 | — | — | 29.2 | — | — | 33.9 | |
| Cylinder3D + PointPillarsSemantic Segmentation=Cylinder3D, Detection=PointPillars2022.03 | 36 | 43.3 | 83.3 | 23.3 | 27 | 83.7 | 57.2 | 69.6 | 82.7 | 52.3 | |
| PSABackbone=Point Transformer v3, Evaluation Protocol=linear probing2026.03 | 30.1 | 38.6 | 73.9 | — | — | — | — | — | — | — | |
| SegContrastBackbone=Point Transformer v3, Evaluation Protocol=linear probing2026.03 | 25.4 | 33.4 | 69.8 | — | — | — | — | — | — | — |