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Benchmarks
BEV semantic segmentation on nuScenes 1 (val)
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60.5
Vehicle IoU
IMKD
42.508
47.179
51.85
56.521
Dec 17, 2025
Vehicle IoU
mIoU
Drivable Area IoU
Updated 4d ago
Evaluation Results
Method
Method
Links
Vehicle IoU
mIoU
Drivable Area IoU
IMKD
Input=C+R, Backbone=R101
2025.12
60.5
62.2
81.9
BEVGuide
Input=C+R, Backbone=Ef...
2025.12
59.2
60
76.7
CRN
Input=C+R, Backbone=R50
2025.12
58.8
-
82.1
BEVCar
Input=C+R, Backbone=R101
2025.12
57.3
61
81.8
Simple-BEV++
Input=C+R, Backbone=R1...
2025.12
52.7
55.4
77.7
BEVFormer-S
Input=C, Backbone=R101
2025.12
43.2
48.4
80.7
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