# Semantic Segmentation on nuScenes 1

Source: [Semantic Segmentation on nuScenes 1](<https://www.sota2.com/research/sota/semantic-segmentation-on-nuscenes-1>)

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

Data updated: 2026-07-07T11:03:26.056Z

Evaluation of Semantic Segmentation performance on the nuScenes version 1 dataset, reporting Mean Intersection over Union (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) | nuScenes 1 |
| 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-nuscenes-1.md?metric=mIoU>): Higher is better; unit: PERCENT.

## Recorded results

| Method | mIoU | Result date | Report paper |
| --- | --- | --- | --- |
| RCT-AD-L | 52.3 | Not recorded | 6a4c883c85dba69fef8b2cc6 |
| RCT-AD-T | 49.8 | Not recorded | 6a4c883c85dba69fef8b2cc6 |
| Simple-BEV | 47.4 | Not recorded | 6a4c883c85dba69fef8b2cc6 |
| BEVFormer | 47.3 | Not recorded | 6a4c883c85dba69fef8b2cc6 |
| LSS | 45 | Not recorded | 6a4c883c85dba69fef8b2cc6 |
| VPN | 43.8 | Not recorded | 6a4c883c85dba69fef8b2cc6 |

### RCT-AD-L

mIoU: 52.3. Result ID: 6a4cdceb60b88bb339cb293d.

[Reporting paper](<https://www.sota2.com/research/paper/6a4c883c85dba69fef8b2cc6.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6a4c883c85dba69fef8b2cc6.md>)

Recorded evaluation configuration: {"Backbone":"R101","Input Size":"512 × 1408"}. This record does not assert independent reproduction.

### RCT-AD-T

mIoU: 49.8. Result ID: 6a4cdceb60b88bb339cb293a.

[Reporting paper](<https://www.sota2.com/research/paper/6a4c883c85dba69fef8b2cc6.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6a4c883c85dba69fef8b2cc6.md>)

Recorded evaluation configuration: {"Backbone":"R50","Input Size":"256 × 704"}. This record does not assert independent reproduction.

### Simple-BEV

mIoU: 47.4. Result ID: 6a4cdceb60b88bb339cb293c.

[Reporting paper](<https://www.sota2.com/research/paper/6a4c883c85dba69fef8b2cc6.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d831e209131cea3a41c.md>)

[Implementation](<https://simple-bev.github.io/>)

Recorded evaluation configuration: {"Backbone":"R101","Input Size":"448 × 800"}. This record does not assert independent reproduction.

### BEVFormer

mIoU: 47.3. Result ID: 6a4cdceb60b88bb339cb293b.

[Reporting paper](<https://www.sota2.com/research/paper/6a4c883c85dba69fef8b2cc6.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d011e209131cea373ae.md>)

[Implementation](<https://github.com/zhiqi-li/BEVFormer>)

Recorded evaluation configuration: {"Backbone":"R101","Input Size":"900 × 1600"}. This record does not assert independent reproduction.

### LSS

mIoU: 45. Result ID: 6a4cdceb60b88bb339cb2939.

[Reporting paper](<https://www.sota2.com/research/paper/6a4c883c85dba69fef8b2cc6.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa682e1e209131cea1a99e.md>)

[Implementation](<https://nv-tlabs.github.io/lift-splat-shoot>)

Recorded evaluation configuration: {"Backbone":"R50","Input Size":"256 × 704"}. This record does not assert independent reproduction.

### VPN

mIoU: 43.8. Result ID: 6a4cdceb60b88bb339cb2938.

[Reporting paper](<https://www.sota2.com/research/paper/6a4c883c85dba69fef8b2cc6.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa680e1e209131cea19e9d.md>)

Recorded evaluation configuration: {"Backbone":"R50","Input Size":"256 × 704"}. This record does not assert independent reproduction.

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