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Benchmarks
Dense BEV segmentation on Gold BEV (test)
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48.5
mIoU (All)
SegF.
28.22
33.485
38.75
44.015
Apr 21, 2026
mIoU (All)
mIoU (Static)
IoU (Vehicle)
IoU (VRU)
Updated 1mo ago
Evaluation Results
Method
Method
Links
mIoU (All)
mIoU (Static)
IoU (Vehicle)
IoU (VRU)
SegF.
Input=L, LiDAR fine-tu...
2026.04
48.5
62.7
50.6
3.9
Diff.
Input=C+L, LiDAR fine-...
2026.04
48.5
66.3
43.8
0.03
SegF.
Input=C+L, LiDAR fine-...
2026.04
47.7
61.6
50
3.5
SegF. (Int.)
Input=C+L, LiDAR fine-...
2026.04
46.1
59.1
49.4
3.6
SegF. (EP.)
Input=C+L, LiDAR fine-...
2026.04
46.1
61.7
41.5
3.9
SegF.
Input=C, LiDAR fine-tu...
2026.04
29
40.8
22.6
0
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