# Semantic Segmentation on nuScenes-C v1.0 (test)

Source: [Semantic Segmentation on nuScenes-C v1.0 (test)](<https://www.sota2.com/research/sota/semantic-segmentation-on-nuscenes-c-v1-0-test>)

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

Data updated: 2026-02-26T06:10:46.300Z

Evaluation of Semantic Segmentation performance on the corrupted nuScenes-C v1.0 test set, reporting standard metrics (mIoU) alongside corruption robustness metrics (mCE, Fog, Snow, etc.).

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-C v1.0 (test) |
| Metric | mIoU |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 10 of 10 |
| 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-c-v1-0-test.md?metric=mIoU>): Higher is better; unit: PERCENT.

- [mCE](<https://www.sota2.com/research/sota/semantic-segmentation-on-nuscenes-c-v1-0-test.md?metric=mCE>): Lower is better; unit: PERCENT.

- [mRR](<https://www.sota2.com/research/sota/semantic-segmentation-on-nuscenes-c-v1-0-test.md?metric=mRR>): Higher is better; unit: PERCENT.

- [IoU (Fog)](<https://www.sota2.com/research/sota/semantic-segmentation-on-nuscenes-c-v1-0-test.md?metric=IoU%20(Fog)>): Higher is better; unit: PERCENT.

- [IoU (Wet)](<https://www.sota2.com/research/sota/semantic-segmentation-on-nuscenes-c-v1-0-test.md?metric=IoU%20(Wet)>): Higher is better; unit: PERCENT.

- [IoU (Snow)](<https://www.sota2.com/research/sota/semantic-segmentation-on-nuscenes-c-v1-0-test.md?metric=IoU%20(Snow)>): Higher is better; unit: PERCENT.

- [IoU (Motion)](<https://www.sota2.com/research/sota/semantic-segmentation-on-nuscenes-c-v1-0-test.md?metric=IoU%20(Motion)>): Higher is better; unit: PERCENT.

- [IoU (Beam)](<https://www.sota2.com/research/sota/semantic-segmentation-on-nuscenes-c-v1-0-test.md?metric=IoU%20(Beam)>): Higher is better; unit: PERCENT.

- [IoU (Cross)](<https://www.sota2.com/research/sota/semantic-segmentation-on-nuscenes-c-v1-0-test.md?metric=IoU%20(Cross)>): Higher is better; unit: PERCENT.

- [IoU (Echo)](<https://www.sota2.com/research/sota/semantic-segmentation-on-nuscenes-c-v1-0-test.md?metric=IoU%20(Echo)>): Higher is better; unit: PERCENT.

- [Performance (Sensor)](<https://www.sota2.com/research/sota/semantic-segmentation-on-nuscenes-c-v1-0-test.md?metric=Performance%20(Sensor)>): Higher is better; unit: PERCENT.

## Recorded results

| Method | mIoU | Result date | Report paper |
| --- | --- | --- | --- |
| 2DPASS | 77.9 | Not recorded | 68fa77951e209131cea7422b |
| FRNet | 77.7 | Not recorded | 68fa77951e209131cea7422b |
| Cylinder3D | 76.2 | Not recorded | 68fa77951e209131cea7422b |
| WaffleIron | 76.1 | Not recorded | 68fa77951e209131cea7422b |
| MinkUNet | 75.8 | Not recorded | 68fa77951e209131cea7422b |
| SPVCNN | 74.4 | Not recorded | 68fa77951e209131cea7422b |
| CENet | 73.3 | Not recorded | 68fa77951e209131cea7422b |
| FIDNet | 71.4 | Not recorded | 68fa77951e209131cea7422b |
| DINOv2 + CD | 43.9 | Not recorded | 6992a4b29ebc499c97406d71 |
| DINOv2 | 43.4 | Not recorded | 6992a4b29ebc499c97406d71 |

### 2DPASS

mIoU: 77.9. Result ID: 699546913badfaffe634c84a.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77951e209131cea7422b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6dac1e209131cea3b618.md>)

[Implementation](<https://github.com/yanx27/2DPASS>)

Recorded evaluation configuration: {"Venue":"ECCV'22"}. This record does not assert independent reproduction.

### FRNet

mIoU: 77.7. Result ID: 699546913badfaffe634c84d.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77951e209131cea7422b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77951e209131cea7422b.md>)

[Implementation](<https://github.com/Xiangxu-0103/FRNet>)

Recorded evaluation configuration: {"Venue":"Ours"}. This record does not assert independent reproduction.

### Cylinder3D

mIoU: 76.2. Result ID: 699546913badfaffe634c849.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77951e209131cea7422b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa68c51e209131cea1e4a1.md>)

[Implementation](<https://github.com/xinge008/Cylinder3D>)

Recorded evaluation configuration: {"Venue":"CVPR'21"}. This record does not assert independent reproduction.

### WaffleIron

mIoU: 76.1. Result ID: 699546913badfaffe634c84c.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77951e209131cea7422b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70b31e209131cea4ca99.md>)

[Implementation](<https://github.com/valeoai/WaffleIron>)

Recorded evaluation configuration: {"Venue":"ICCV'23"}. This record does not assert independent reproduction.

### MinkUNet

mIoU: 75.8. Result ID: 699546913badfaffe634c846.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77951e209131cea7422b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65dd1e209131cea0ceeb.md>)

[Implementation](<https://github.com/StanfordVL/MinkowskiEngine>)

Recorded evaluation configuration: {"Venue":"CVPR'19"}. This record does not assert independent reproduction.

### SPVCNN

mIoU: 74.4. Result ID: 699546913badfaffe634c847.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77951e209131cea7422b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa682e1e209131cea1a95e.md>)

Recorded evaluation configuration: {"Venue":"ECCV'20"}. This record does not assert independent reproduction.

### CENet

mIoU: 73.3. Result ID: 699546913badfaffe634c84b.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77951e209131cea7422b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d1e1e209131cea37e55.md>)

[Implementation](<https://github.com/huixiancheng/CENet>)

Recorded evaluation configuration: {"Venue":"ICME'22"}. This record does not assert independent reproduction.

### FIDNet

mIoU: 71.4. Result ID: 699546913badfaffe634c848.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77951e209131cea7422b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ab81e209131cea2a045.md>)

Recorded evaluation configuration: {"Venue":"IROS'20"}. This record does not assert independent reproduction.

### DINOv2 + CD

mIoU: 43.9. Result ID: 699a4fef5698665ec4d786df.

[Reporting paper](<https://www.sota2.com/research/paper/6992a4b29ebc499c97406d71.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6992a4b29ebc499c97406d71.md>)

Recorded evaluation configuration: {"Collaborative Distillation":true}. This record does not assert independent reproduction.

### DINOv2

mIoU: 43.4. Result ID: 699a4fef5698665ec4d786de.

[Reporting paper](<https://www.sota2.com/research/paper/6992a4b29ebc499c97406d71.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa72181e209131cea546c3.md>)

[Implementation](<https://github.com/facebookresearch/dinov2>)

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

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