BEV Semantic Segmentation research benchmarks

Benchmarks

Dataset NameSOTA methodMetricTrendResultsLast Updated

nuScenes (val)

BEVFusion

85.5Drivable Area IoU

May 26, 2026

nuScenes Seen Corruptions

FIERY

32.46Performance (FGSM)

Mar 11, 2026

nuScenes unseen corruptions

FIERY

31.31IoU (C&W Attack)

Mar 11, 2026

nuScenes Day -> Night 1.0 (test val)

NRSeg

61.1Driver

Feb 26, 2026

nuScenes Dry -> Rain 1.0 (test val)

PCT*

78.3Class IoU: Driveable Area

Feb 26, 2026

nuScenes Singapore -> Boston 1.0 (test val)

NRSeg

61.4mIoU (Drivable Area)

Feb 26, 2026

nuScenes Boston -> Singapore 1.0 (test val)

NRSeg

59.1Drivable Area Score

Feb 26, 2026

nuScenes 1 (val)

IMKD

60.5Vehicle IoU

Feb 26, 2026

SynWoodScapes

FishRoPE (DINOv2-B + FishRoPE)

65.1mIoU

Apr 14, 2026

Argoverse to nuScenes cross-dataset

NRSeg

13.6mIoU

Feb 26, 2026

OPV2V enhanced (test)

CoHFF

64.44Vehicle mIoU

Feb 26, 2026

nuScenes (new-split)

NRSeg

68.7Dri. IoU

Feb 26, 2026