Semantic Segmentation on KITTI-360
74.28mIoUPanoptic Neural Fields
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| Panoptic Neural Fields2022.05 | 74.28 | — | — | — | — | |
| Fully SupervisedBackbone=Segformer-B4, 3D Supervision=–2026.03 | 68.4 | — | — | — | — | |
| CMNeXtModal=RGB-D-E-Li, Backbone=MiT-B22023.03 | 67.84 | — | — | — | — | |
| CMNeXtModal=RGB-D-Event, Backbone=MiT-B22023.03 | 67.73 | — | — | — | — | |
| FVS + PSPNetRenderer=FVS, Segmentor=PSPNet2022.05 | 67.08 | — | — | — | — | |
| SegFormerModal=RGB, Backbone=MiT-B22023.03 | 67.04 | — | — | — | — | |
| CMNeXtModal=RGB-D-LiDAR, Backbone=MiT-B22023.03 | 66.55 | — | — | — | — | |
| CMNeXtModal=RGB-Event, Backbone=MiT-B22023.03 | 66.13 | — | — | — | — | |
| CMNeXtModal=RGB-LiDAR, Backbone=MiT-B22023.03 | 65.26 | — | — | — | — | |
| CMNeXtModal=RGB-Depth, Backbone=MiT-B22023.03 | 65.09 | — | — | — | — | |
| PBNR + PSPNetRenderer=PBNR, Segmentor=PSPNet2022.05 | 65.07 | — | — | — | — | |
| CMXModal=RGB-Depth, Backbone=MiT-B22023.03 | 64.43 | — | — | — | — | |
| CMXModal=RGB-LiDAR, Backbone=MiT-B22023.03 | 64.31 | — | — | — | — | |
| CMXBackbone=MiT-B22022.03 | 64.31 | — | — | — | — | |
| CMXModal=RGB-Event, Backbone=MiT-B22023.03 | 64.03 | — | — | — | — | |
| Ours (Recon)Backbone=Segformer-B4, 3D Supervision=Recon.2026.03 | 63.4 | 93.4 | — | — | — | |
| Ours (Real 3D)Backbone=Segformer-B4, 3D Supervision=LiDAR/Depth2026.03 | 61.7 | 90.2 | — | — | — | |
| EMABackbone=Segformer-B4, 3D Supervision=–2026.03 | 60.3 | 88.2 | — | — | — | |
| TELBackbone=DeepLabV3+, 3D Supervision=–2026.03 | 59.2 | 86.6 | — | — | — | |
| TokenFusionModal=RGB-Depth, Backbone=MiT-B22023.03 | 57.44 | — | — | — | — | |
| TransFuserBackbone=RegNetY-3.2GF2022.03 | 56.57 | — | — | — | — | |
| TokenFusionModal=RGB-Event, Backbone=MiT-B22023.03 | 55.97 | — | — | — | — | |
| TokenFusionModal=RGB-LiDAR, Backbone=MiT-B22023.03 | 54.55 | — | — | — | — | |
| TokenFusionBackbone=MiT-B22022.03 | 54.55 | — | — | — | — | |
| PMFBackbone=SalsaNext2022.03 | 54.48 | — | — | — | — | |
| HRFuserModal=RGB, Backbone=HRFormer-T2023.03 | 53.2 | — | — | — | — | |
| NeRF + PSPNetRenderer=NeRF, Segmentor=PSPNet2022.05 | 53.01 | — | — | — | — | |
| HRFuserModal=RGB-D-E-Li, Backbone=HRFormer-T2023.03 | 52.76 | — | — | — | — | |
| HRFuserModal=RGB-D-LiDAR, Backbone=HRFormer-T2023.03 | 52.61 | — | — | — | — | |
| Ucomodcommit threshold=0.5, trajectory state=end of trajectory2026.05 | 52.2 | — | 79.6 | 21.1 | 56 | |
| Mip-NeRF + PSPNetRenderer=Mip-NeRF, Segmentor=PSPNet2022.05 | 51.15 | — | — | — | — | |
| HRFuserModal=RGB-D-Event, Backbone=HRFormer-T2023.03 | 50.21 | — | — | — | — | |
| HRFuserModal=RGB-Depth, Backbone=HRFormer-T2023.03 | 49.32 | — | — | — | — | |
| HRFuserModal=RGB-LiDAR, Backbone=HRFormer-T2023.03 | 48.74 | — | — | — | — | |
| HRFuserBackbone=HRFormer-T2022.03 | 48.74 | — | — | — | — | |
| SASFormerBackbone=Segformer-B4, 3D Supervision=–2026.03 | 46.4 | 67.8 | — | — | — | |
| HRFuserModal=RGB-Event, Backbone=HRFormer-T2023.03 | 44.85 | — | — | — | — | |
| Refined baselinecommit threshold=0.5, trajectory state=end of trajectory2026.05 | 23.5 | — | 60.3 | 9.1 | 1 | |
| Majority votecommit threshold=0.5, trajectory state=end of trajectory2026.05 | 19.6 | — | 31.8 | 17.4 | 9.6 | |
| Naive Bayesiancommit threshold=0.5, trajectory state=end of trajectory2026.05 | 19.6 | — | 31.8 | 17.4 | 9.6 | |
| Ucalcommit threshold=0.5, trajectory state=end of trajectory2026.05 | 18 | — | 33.1 | 12 | 8.9 | |
| Overwritecommit threshold=0.5, trajectory state=end of trajectory2026.05 | 17.3 | — | 36.7 | 8.9 | 6.4 |