Semantic Segmentation on nuScenes 1.0 (val)
80.4mIoUPTv3
Evaluation results
| Method | Links | ||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| PTv3category=Transformer2024.06 | 80.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Pambacategory=Mamba2024.06 | 80.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PTv2category=Transformer2024.06 | 80.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LSK3DNetInput=PV2024.03 | 80.1 | 80 | 52.5 | 94.5 | 91.8 | 58.8 | 85.8 | 84.4 | 71.2 | 73.8 | 88.3 | 96.9 | 74.8 | 75.9 | 75.9 | 89.3 | 87.5 | — | |
| SphereFormerInput=Voxelizations (V)2024.03 | 79.5 | 78.7 | 46.7 | 95.2 | 93.7 | 54 | 88.9 | 81.1 | 68 | 74.2 | 86.2 | 97.2 | 74.3 | 76.3 | 75.8 | 91.4 | 89.7 | — | |
| 2DPASSInput=PV2024.03 | 79.4 | 78.8 | 49.6 | 95.6 | 93.6 | 60 | 84.1 | 82.2 | 67.5 | 72.6 | 88.1 | 96.8 | 72.8 | 76.2 | 76.5 | 89.4 | 87.2 | — | |
| 2D3DNetInput=Voxelizations (V)2024.03 | 79 | 78.3 | 55.1 | 95.4 | 87.7 | 59.4 | 79.3 | 80.7 | 70.2 | 68.2 | 86.6 | 96.1 | 74.9 | 75.7 | 75.1 | 91.4 | 89.9 | — | |
| SphereFormerArchitecture Type=3D Voxel Based2023.11 | 78.4 | 77.7 | 43.8 | 94.5 | 93.1 | 52.4 | 86.9 | 81.2 | 65.4 | 73.4 | 85.3 | 97 | 73.4 | 75.4 | 75 | 91 | 89.2 | — | |
| SphereFormercategory=Transformer2024.06 | 78.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RPVNetInput=RPV2024.03 | 77.6 | 78.2 | 43.4 | 92.7 | 93.2 | 49 | 85.7 | 80.5 | 66 | 66.9 | 84 | 96.9 | 73.5 | 75.9 | 76 | 90.6 | 88.9 | — | |
| SuperFlowPresent at=ECCV’24, Evaluation Protocol=Fine-tuning, Labeling Ratio=100%2024.12 | 77.19 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CMCREvaluation Protocol=Fine-tuning, Labeling Ratio=100%2024.12 | 76.34 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AMVNetInput=Points (P)2024.03 | 76.1 | 79.8 | 32.4 | 82.2 | 86.4 | 62.5 | 81.9 | 75.3 | 72.3 | 83.5 | 65.1 | 97.4 | 67 | 78.8 | 74.6 | 90.8 | 87.9 | — | |
| Cylinder3DInput=Voxelizations (V)2024.03 | 76.1 | 76.4 | 40.3 | 91.2 | 93.8 | 51.3 | 78 | 78.9 | 64.9 | 62.1 | 84.4 | 96.8 | 71.6 | 76.4 | 75.4 | 90.5 | 87.4 | — | |
| Cylinder3DArchitecture Type=3D Voxel Based2023.11 | 76.1 | 76.4 | 40.3 | 91.3 | 93.8 | 51.3 | 78 | 78.9 | 64.9 | 62.1 | 84.4 | 96.8 | 71.6 | 76.4 | 75.4 | 90.5 | 87.4 | — | |
| PVKDInput=Voxelizations (V)2024.03 | 76 | 76.2 | 40 | 90.2 | 94 | 50.9 | 77.4 | 78.8 | 64.7 | 62 | 84.1 | 96.6 | 71.4 | 76.4 | 76.3 | 90.3 | 86.9 | — | |
| SFCNetArchitecture Type=2D Projection Based2023.11 | 75.9 | 76.7 | 40.4 | 89.5 | 91.3 | 46.7 | 82 | 78.1 | 65.8 | 69.4 | 80.6 | 96.6 | 71.6 | 74.5 | 74.9 | 89 | 87.5 | — | |
| CSCPresent at=CVPR’24, Evaluation Protocol=Fine-tuning, Labeling Ratio=100%2024.12 | 75.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SealPresent at=NeurIPS’23, Evaluation Protocol=Fine-tuning, Labeling Ratio=100%2024.12 | 75.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RangeViTArchitecture Type=2D Projection Based2023.11 | 75.2 | 75.5 | 40.7 | 88.3 | 90.1 | 49.3 | 79.3 | 77.2 | 66.3 | 65.2 | 80 | 96.4 | 71.4 | 73.8 | 73.8 | 89.9 | 87.2 | — | |
| ST-SLidRPresent at=CVPR’23, Evaluation Protocol=Fine-tuning, Labeling Ratio=100%2024.12 | 75.14 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SLidRPresent at=CVPR’22, Evaluation Protocol=Fine-tuning, Labeling Ratio=100%2024.12 | 74.79 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RandomEvaluation Protocol=Fine-tuning, Labeling Ratio=100%2024.12 | 74.66 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PPKTPresent at=Arxiv’21, Evaluation Protocol=Fine-tuning, Labeling Ratio=100%2024.12 | 74.52 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SalsanextInput=Range images (R)2024.03 | 72.2 | 74.8 | 34.1 | 85.9 | 88.4 | 42.2 | 72.4 | 72.2 | 63.1 | 61.3 | 76.5 | 96 | 70.8 | 71.2 | 71.5 | 86.7 | 84.4 | — | |
| SalsaNextArchitecture Type=2D Projection Based2023.11 | 72.2 | 74.8 | 34.1 | 85.9 | 88.4 | 42.2 | 72.4 | 72.2 | 63.1 | 61.3 | 76.5 | 96 | 70.8 | 71.2 | 71.5 | 86.7 | 84.4 | — | |
| PolarNetInput=Range images (R)2024.03 | 71 | 74.7 | 28.2 | 85.3 | 90.9 | 35.1 | 77.5 | 71.3 | 58.8 | 57.4 | 76.1 | 96.5 | 71.1 | 74.7 | 74 | 87.3 | 85.7 | — | |
| PolarNetArchitecture Type=2D Projection Based2023.11 | 71 | 74.7 | 28.2 | 85.3 | 90.9 | 35.1 | 77.5 | 71.3 | 58.8 | 57.4 | 76.1 | 96.5 | 71.1 | 74.7 | 74 | 87.3 | 85.7 | — | |
| CMCREvaluation Protocol=Fine-tuning, Labeling Ratio=25%2024.12 | 70.72 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SuperFlowPresent at=ECCV’24, Evaluation Protocol=Fine-tuning, Labeling Ratio=25%2024.12 | 70.01 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CSCPresent at=CVPR’24, Evaluation Protocol=Fine-tuning, Labeling Ratio=25%2024.12 | 68.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SealPresent at=NeurIPS’23, Evaluation Protocol=Fine-tuning, Labeling Ratio=25%2024.12 | 68.41 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ST-SLidRPresent at=CVPR’23, Evaluation Protocol=Fine-tuning, Labeling Ratio=25%2024.12 | 67.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PPKTPresent at=Arxiv’21, Evaluation Protocol=Fine-tuning, Labeling Ratio=25%2024.12 | 67.14 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SLidRPresent at=CVPR’22, Evaluation Protocol=Fine-tuning, Labeling Ratio=25%2024.12 | 66.91 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CMCREvaluation Protocol=Fine-tuning, Labeling Ratio=10%2024.12 | 65.69 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RangeNet++Input=Range images (R)2024.03 | 65.5 | 66 | 21.3 | 77.2 | 80.9 | 30.2 | 66.8 | 69.6 | 52.1 | 54.2 | 72.3 | 94.1 | 66.6 | 63.5 | 70.1 | 83.1 | 79.8 | — | |
| RangeNet++Architecture Type=2D Projection Based2023.11 | 65.5 | 66 | 21.3 | 77.2 | 80.9 | 30.2 | 66.8 | 69.6 | 52.1 | 54.2 | 72.3 | 94.1 | 66.6 | 63.5 | 70.1 | 83.1 | 79.8 | — | |
| RandomEvaluation Protocol=Fine-tuning, Labeling Ratio=25%2024.12 | 65.48 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SuperFlowPresent at=ECCV’24, Evaluation Protocol=Fine-tuning, Labeling Ratio=10%2024.12 | 65.09 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CSCPresent at=CVPR’24, Evaluation Protocol=Fine-tuning, Labeling Ratio=10%2024.12 | 63.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SealPresent at=NeurIPS’23, Evaluation Protocol=Fine-tuning, Labeling Ratio=10%2024.12 | 62.97 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| (AF)2-S3NetInput=Voxelizations (V)2024.03 | 62.2 | 60.3 | 12.6 | 82.3 | 80 | 20.1 | 62 | 59 | 49 | 42.2 | 67.4 | 94.2 | 68 | 64.1 | 68.6 | 82.9 | 82.4 | — | |
| (AF)^2-S3NetArchitecture Type=3D Voxel Based2023.11 | 62.2 | 60.3 | 12.6 | 82.3 | 80 | 20.1 | 62 | 59 | 49 | 42.2 | 67.4 | 94.2 | 68 | 64.1 | 68.6 | 82.9 | 82.4 | — | |
| CMCREvaluation Protocol=Fine-tuning, Labeling Ratio=5%2024.12 | 61.08 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ST-SLidRPresent at=CVPR’23, Evaluation Protocol=Fine-tuning, Labeling Ratio=10%2024.12 | 60.75 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SuperFlowPresent at=ECCV’24, Evaluation Protocol=Fine-tuning, Labeling Ratio=5%2024.12 | 60.72 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PPKTPresent at=Arxiv’21, Evaluation Protocol=Fine-tuning, Labeling Ratio=10%2024.12 | 60.25 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SLidRPresent at=CVPR’22, Evaluation Protocol=Fine-tuning, Labeling Ratio=10%2024.12 | 59.84 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| UniLiPS (Propagated)Representation=Voxel, Label Propagation=true2026.01 | 59.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 76.3 | |
| UniLiPS (Propagated)Representation=Point, Label Propagation=true2026.01 | 58 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 65.2 | |
| CSCPresent at=CVPR’24, Evaluation Protocol=Fine-tuning, Labeling Ratio=5%2024.12 | 57 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RandomEvaluation Protocol=Fine-tuning, Labeling Ratio=10%2024.12 | 56.15 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SealPresent at=NeurIPS’23, Evaluation Protocol=Fine-tuning, Labeling Ratio=5%2024.12 | 55.64 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| UniLiPS (fseg)Representation=Point, Label Propagation=false2026.01 | 54.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 62.6 | |
| ST-SLidRPresent at=CVPR’23, Evaluation Protocol=Fine-tuning, Labeling Ratio=5%2024.12 | 54.69 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PPKTPresent at=Arxiv’21, Evaluation Protocol=Fine-tuning, Labeling Ratio=5%2024.12 | 53.74 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SLidRPresent at=CVPR’22, Evaluation Protocol=Fine-tuning, Labeling Ratio=5%2024.12 | 52.49 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CMCREvaluation Protocol=Fine-tuning, Labeling Ratio=1%2024.12 | 51.76 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CMCREvaluation Protocol=Linear Probing2024.12 | 51.23 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SuperFlowPresent at=ECCV’24, Evaluation Protocol=Fine-tuning, Labeling Ratio=1%2024.12 | 49.95 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SuperFlowPresent at=ECCV’24, Evaluation Protocol=Linear Probing2024.12 | 48.01 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RandomEvaluation Protocol=Fine-tuning, Labeling Ratio=5%2024.12 | 47.84 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CSCPresent at=CVPR’24, Evaluation Protocol=Fine-tuning, Labeling Ratio=1%2024.12 | 47 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CSCPresent at=CVPR’24, Evaluation Protocol=Linear Probing2024.12 | 46 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SealPresent at=NeurIPS’23, Evaluation Protocol=Fine-tuning, Labeling Ratio=1%2024.12 | 45.84 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SealPresent at=NeurIPS’23, Evaluation Protocol=Linear Probing2024.12 | 44.95 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ST-SLidRPresent at=CVPR’23, Evaluation Protocol=Fine-tuning, Labeling Ratio=1%2024.12 | 40.75 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ST-SLidRPresent at=CVPR’23, Evaluation Protocol=Linear Probing2024.12 | 40.48 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SLidRPresent at=CVPR’22, Evaluation Protocol=Linear Probing2024.12 | 38.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SLidRPresent at=CVPR’22, Evaluation Protocol=Fine-tuning, Labeling Ratio=1%2024.12 | 38.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PPKTPresent at=Arxiv’21, Evaluation Protocol=Fine-tuning, Labeling Ratio=1%2024.12 | 37.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PPKTPresent at=Arxiv’21, Evaluation Protocol=Linear Probing2024.12 | 35.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| observability-constrained test-time prompt tuningTrainable Parameters (%)=0.72%, Per-frame Adaptation Time (s)=0.032026.06 | 35.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| HGLTrainable Parameters (%)=100%, Per-frame Adaptation Time (s)=0.552026.06 | 34.49 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GIPSOTrainable Parameters (%)=100%, Per-frame Adaptation Time (s)=3.212026.06 | 33.35 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointContrastPresent at=ECCV’20, Evaluation Protocol=Fine-tuning, Labeling Ratio=1%2024.12 | 32.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Source2026.06 | 32.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DepthContrastPresent at=ICCV’21, Evaluation Protocol=Fine-tuning, Labeling Ratio=1%2024.12 | 31.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| TentTrainable Parameters (%)=100%, Per-frame Adaptation Time (s)=0.372026.06 | 30.62 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RandomEvaluation Protocol=Fine-tuning, Labeling Ratio=1%2024.12 | 30.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SSAM (Propagated)Representation=Voxel, Label Propagation=true2026.01 | 25.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 29.2 | |
| DepthContrastPresent at=ICCV’21, Evaluation Protocol=Linear Probing2024.12 | 22.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointContrastPresent at=ECCV’20, Evaluation Protocol=Linear Probing2024.12 | 21.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SSAMRepresentation=Point, Label Propagation=false2026.01 | 13.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 23.2 | |
| RandomEvaluation Protocol=Linear Probing2024.12 | 8.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — |