# Semantic Segmentation on CARLA

Source: [Semantic Segmentation on CARLA](<https://www.sota2.com/research/sota/semantic-segmentation-on-carla>)

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

Data updated: 2026-02-26T05:38:09.912Z

Evaluation of Semantic Segmentation performance on the CARLA driving simulator dataset, reporting Chamfer Distance metrics for various classes (e.g., Pedestrian, Vehicle).

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 | Semantic Segmentation |
| Dataset (including any stated split) | CARLA |
| Metric | CD (Avg Class) |
| Unit | SCALAR |
| Direction | Lower is better |
| Results loaded | 6 of 6 |
| 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

- [CD (Avg Class)](<https://www.sota2.com/research/sota/semantic-segmentation-on-carla.md?metric=CD%20(Avg%20Class)>): Lower is better; unit: SCALAR.

- [CD (Pedestrian)](<https://www.sota2.com/research/sota/semantic-segmentation-on-carla.md?metric=CD%20(Pedestrian)>): Lower is better; unit: SCALAR.

- [CD (Vehicle)](<https://www.sota2.com/research/sota/semantic-segmentation-on-carla.md?metric=CD%20(Vehicle)>): Lower is better; unit: SCALAR.

- [CD (Occ. Pedestrian)](<https://www.sota2.com/research/sota/semantic-segmentation-on-carla.md?metric=CD%20(Occ.%20Pedestrian)>): Lower is better; unit: SCALAR.

- [CD (Occ. Vehicle)](<https://www.sota2.com/research/sota/semantic-segmentation-on-carla.md?metric=CD%20(Occ.%20Vehicle)>): Lower is better; unit: SCALAR.

## Recorded results

| Method | CD (Avg Class) | Result date | Report paper |
| --- | --- | --- | --- |
| 4D Neural Fields | 5.82 | Not recorded | 68fa6c601e209131cea33aa8 |
| No self-attention | 6.6 | Not recorded | 68fa6c601e209131cea33aa8 |
| No time | 6.76 | Not recorded | 68fa6c601e209131cea33aa8 |
| No cross-attention | 7.11 | Not recorded | 68fa6c601e209131cea33aa8 |
| No attention | 9.21 | Not recorded | 68fa6c601e209131cea33aa8 |
| No local features | 15.23 | Not recorded | 68fa6c601e209131cea33aa8 |

### 4D Neural Fields

CD (Avg Class): 5.82. Result ID: 698f0db93a6c314849f5483f.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6c601e209131cea33aa8.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c601e209131cea33aa8.md>)

[Implementation](<https://www.sota2.com/occlusions.cs.columbia.edu>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### No self-attention

CD (Avg Class): 6.6. Result ID: 698f0db93a6c314849f5483c.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6c601e209131cea33aa8.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c601e209131cea33aa8.md>)

[Implementation](<https://www.sota2.com/occlusions.cs.columbia.edu>)

Recorded evaluation configuration: {"Ablation":"No self-attention"}. This record does not assert independent reproduction.

### No time

CD (Avg Class): 6.76. Result ID: 698f0db93a6c314849f5483b.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6c601e209131cea33aa8.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c601e209131cea33aa8.md>)

[Implementation](<https://www.sota2.com/occlusions.cs.columbia.edu>)

Recorded evaluation configuration: {"Ablation":"No temporal dimension"}. This record does not assert independent reproduction.

### No cross-attention

CD (Avg Class): 7.11. Result ID: 698f0db93a6c314849f5483d.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6c601e209131cea33aa8.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c601e209131cea33aa8.md>)

[Implementation](<https://www.sota2.com/occlusions.cs.columbia.edu>)

Recorded evaluation configuration: {"Ablation":"No cross-attention"}. This record does not assert independent reproduction.

### No attention

CD (Avg Class): 9.21. Result ID: 698f0db93a6c314849f5483e.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6c601e209131cea33aa8.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c601e209131cea33aa8.md>)

[Implementation](<https://www.sota2.com/occlusions.cs.columbia.edu>)

Recorded evaluation configuration: {"Ablation":"No self or cross attention"}. This record does not assert independent reproduction.

### No local features

CD (Avg Class): 15.23. Result ID: 698f0db93a6c314849f5483a.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6c601e209131cea33aa8.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c601e209131cea33aa8.md>)

[Implementation](<https://www.sota2.com/occlusions.cs.columbia.edu>)

Recorded evaluation configuration: {"Ablation":"No local features"}. This record does not assert independent reproduction.

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