Semantic Segmentation on Waymo Open Dataset
59mIoUFully Supervised
Evaluation results
| Method | Links | ||
|---|---|---|---|
| Fully SupervisedBackbone=Segformer-B4, 3D Supervision=–2026.03 | 59 | — | |
| Ours (Recon)Backbone=Segformer-B4, 3D Supervision=Recon.2026.03 | 53.3 | 90.3 | |
| Ours (Real 3D)Backbone=Segformer-B4, 3D Supervision=LiDAR/Depth2026.03 | 51.8 | 87.8 | |
| EMABackbone=Segformer-B4, 3D Supervision=–2026.03 | 49.4 | 83.7 | |
| TELBackbone=DeepLabV3+, 3D Supervision=–2026.03 | 42.4 | 71.9 | |
| SASFormerBackbone=Segformer-B4, 3D Supervision=–2026.03 | 37.8 | 64.1 |