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Benchmarks
Dense BEV segmentation on LiDAR (Holdout)
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69
mIoU (All Classes)
SegF. (EP.)
14.712
28.806
42.9
56.994
Apr 21, 2026
mIoU (All Classes)
mIoU (Static)
IoU (Vehicles)
IoU (VRU)
Updated 1mo ago
Evaluation Results
Method
Method
Links
mIoU (All Classes)
mIoU (Static)
IoU (Vehicles)
IoU (VRU)
SegF. (EP.)
Input=C+L, LiDAR fine-...
2026.04
69
74.6
88
32.8
SegF. (Int.)
Input=C+L, LiDAR fine-...
2026.04
65.6
70.9
85.4
29.9
SegF.
Input=C+L, LiDAR fine-...
2026.04
44.2
55.9
45.2
8.4
Diff.
Input=C+L, LiDAR fine-...
2026.04
43.7
59.3
40.4
0.04
SegF.
Input=L, LiDAR fine-tu...
2026.04
42.6
54.9
42.7
5.6
SegF.
Input=C, LiDAR fine-tu...
2026.04
16.8
28
0.3
0
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