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

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

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

Data updated: 2026-02-26T06:10:06.505Z

Evaluation of Semantic Segmentation performance on the test split of the SemanticKITTI-C v1.0 dataset, reporting standard metrics (mIoU, mRR) alongside performance under specific adverse conditions (Fog, Wet, Snow, Motion, Sensor interference).

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) | SemanticKITTI-C v1.0 (test) |
| Metric | mCE |
| Unit | PERCENT |
| Direction | Lower is better |
| Results loaded | 8 of 8 |
| 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

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

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

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

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

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

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

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

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

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

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

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

## Recorded results

| Method | mCE | Result date | Report paper |
| --- | --- | --- | --- |
| FRNet | 96.8 | Not recorded | 68fa77951e209131cea7422b |
| MinkUNet | 100 | Not recorded | 68fa77951e209131cea7422b |
| SPVCNN | 100.3 | Not recorded | 68fa77951e209131cea7422b |
| Cylinder3D | 103.3 | Not recorded | 68fa77951e209131cea7422b |
| CENet | 103.4 | Not recorded | 68fa77951e209131cea7422b |
| 2DPASS | 106.1 | Not recorded | 68fa77951e209131cea7422b |
| WaffleIron | 109.5 | Not recorded | 68fa77951e209131cea7422b |
| FIDNet | 113.8 | Not recorded | 68fa77951e209131cea7422b |

### FRNet

mCE: 96.8. Result ID: 699546913badfaffe634c845.

[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.

### MinkUNet

mCE: 100. Result ID: 699546913badfaffe634c83e.

[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

mCE: 100.3. Result ID: 699546913badfaffe634c83f.

[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.

### Cylinder3D

mCE: 103.3. Result ID: 699546913badfaffe634c841.

[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.

### CENet

mCE: 103.4. Result ID: 699546913badfaffe634c843.

[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.

### 2DPASS

mCE: 106.1. Result ID: 699546913badfaffe634c842.

[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.

### WaffleIron

mCE: 109.5. Result ID: 699546913badfaffe634c844.

[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.

### FIDNet

mCE: 113.8. Result ID: 699546913badfaffe634c840.

[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.

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