# Semantic Segmentation on KITTI-360 39 (test)

Source: [Semantic Segmentation on KITTI-360 39 (test)](<https://www.sota2.com/research/sota/semantic-segmentation-on-kitti-360-39-test>)

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

Data updated: 2026-02-26T06:10:10.275Z

Evaluation of Semantic Segmentation performance on the specific subset '39' of the KITTI-360 test set, typically measured using mIoU.

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) | KITTI-360 39 (test) |
| Metric | mIoU |
| Unit | PERCENT |
| Direction | Higher 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

- [mIoU](<https://www.sota2.com/research/sota/semantic-segmentation-on-kitti-360-39-test.md?metric=mIoU>): Higher is better; unit: PERCENT.

## Recorded results

| Method | mIoU | Result date | Report paper |
| --- | --- | --- | --- |
| ShareCMP\* | 64.5 | Not recorded | 68fa79d61e209131cea7fa70 |
| CMX | 64.3 | Not recorded | 68fa79d61e209131cea7fa70 |
| TransFuser | 56.6 | Not recorded | 68fa79d61e209131cea7fa70 |
| TokenFusion | 54.6 | Not recorded | 68fa79d61e209131cea7fa70 |
| PMF | 54.5 | Not recorded | 68fa79d61e209131cea7fa70 |
| HRFuser | 48.7 | Not recorded | 68fa79d61e209131cea7fa70 |

### ShareCMP\*

mIoU: 64.5. Result ID: 698b61f77a967eddb76e1e7a.

[Reporting paper](<https://www.sota2.com/research/paper/68fa79d61e209131cea7fa70.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa79d61e209131cea7fa70.md>)

[Implementation](<https://github.com/LEFTeyex/ShareCMP>)

Recorded evaluation configuration: {"Modal":"RGB-LiDAR","PGA module":false,"CPALoss":false}. This record does not assert independent reproduction.

### CMX

mIoU: 64.3. Result ID: 698b61f77a967eddb76e1e79.

[Reporting paper](<https://www.sota2.com/research/paper/68fa79d61e209131cea7fa70.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa713e1e209131cea5008c.md>)

[Implementation](<https://github.com/huaaaliu/RGBX_Semantic_Segmentation>)

Recorded evaluation configuration: {"Modal":"RGB-LiDAR"}. This record does not assert independent reproduction.

### TransFuser

mIoU: 56.6. Result ID: 698b61f77a967eddb76e1e78.

[Reporting paper](<https://www.sota2.com/research/paper/68fa79d61e209131cea7fa70.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69cf1e209131cea2447f.md>)

[Implementation](<https://github.com/autonomousvision/transfuser>)

Recorded evaluation configuration: {"Modal":"RGB-LiDAR"}. This record does not assert independent reproduction.

### TokenFusion

mIoU: 54.6. Result ID: 698b61f77a967eddb76e1e77.

[Reporting paper](<https://www.sota2.com/research/paper/68fa79d61e209131cea7fa70.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d041e209131cea375bf.md>)

[Implementation](<https://github.com/yikaiw/TokenFusion>)

Recorded evaluation configuration: {"Modal":"RGB-LiDAR"}. This record does not assert independent reproduction.

### PMF

mIoU: 54.5. Result ID: 698b61f77a967eddb76e1e76.

[Reporting paper](<https://www.sota2.com/research/paper/68fa79d61e209131cea7fa70.md>)

Recorded evaluation configuration: {"Modal":"RGB-LiDAR"}. This record does not assert independent reproduction.

### HRFuser

mIoU: 48.7. Result ID: 698b61f77a967eddb76e1e75.

[Reporting paper](<https://www.sota2.com/research/paper/68fa79d61e209131cea7fa70.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70411e209131cea49f63.md>)

[Implementation](<https://github.com/timbroed/HRFuser>)

Recorded evaluation configuration: {"Modal":"RGB-LiDAR"}. This record does not assert independent reproduction.

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