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Semantic Segmentation 벤치마크

Semantic Segmentation on KITTI-360

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mIoU

48.51 53.57 58.62 63.68 68.74 2019-05 2026-09 ACNet (ResNet50) — 61.57 (2019-05-24) ACNet (ResNet50) — 61.57 (2019-05-24) ISSAFE (ResNet50) — 56.64 (2020-08-20) ISSAFE (ResNet18) — 53.95 (2020-08-20) ISSAFE (ResNet50) — 56.64 (2020-08-20) ISSAFE (ResNet18) — 53.95 (2020-08-20) TransFuser (RGB-LiDAR) — 56.57 (2021-04-19) TransFuser (RGB-LiDAR) — 56.57 (2021-04-19) PMF (RGB-LiDAR) — 54.48 (2021-06-21) PMF (RGB-LiDAR) — 54.48 (2021-06-21) PGSNet (RGB-D-LiDAR) — 48.51 (2022-01-01) PGSNet (RGB-D-LiDAR) — 48.51 (2022-01-01) CMX (RGB-Depth) — 64.43 (2022-03-09) CMX (RGB-LiDAR) — 64.31 (2022-03-09) CMX (RGB-Depth) — 64.43 (2022-03-09) CMX (RGB-LiDAR) — 64.31 (2022-03-09) TokenFusion (RGB-Depth) — 57.44 (2022-04-19) TokenFusion (RGB-LiDAR) — 54.55 (2022-04-19) TokenFusion (RGB-Depth) — 57.44 (2022-04-19) TokenFusion (RGB-LiDAR) — 54.55 (2022-04-19) HRFuser (RGB-D-LiDAR) — 52.61 (2022-06-30) HRFuser (RGB-Depth) — 49.32 (2022-06-30) HRFuser (RGB-LiDAR) — 48.74 (2022-06-30) HRFuser (RGB-D-LiDAR) — 52.61 (2022-06-30) HRFuser (RGB-Depth) — 49.32 (2022-06-30) HRFuser (RGB-LiDAR) — 48.74 (2022-06-30) CMNeXt (RGB-D-E-LiDAR) — 67.84 (2023-03-02) CMNeXt (RGB-D-E-LiDAR) — 67.84 (2023-03-02) DiPFormer — 68.74 (2024-09-12) DiPFormer — 68.74 (2024-09-12) HSPFormer-DBS(RGB-Depth) — 67.32 (2025-01-16) HSPFormer-UFS(RGB) — 66.82 (2025-01-16) HSPFormer-DBS(RGB-Depth) — 67.32 (2025-01-16) HSPFormer-UFS(RGB) — 66.82 (2025-01-16) ACNet (ResNet50) — 61.57 (2019-05-24) CMX (RGB-Depth) — 64.43 (2022-03-09) CMNeXt (RGB-D-E-LiDAR) — 67.84 (2023-03-02) DiPFormer — 68.74 (2024-09-12)
RankModel mIoU PaperCodeYear
1 DiPFormer 68.74 Depth Matters: Exploring Deep Interactions of RGB-D for Semantic Segmentation in Traffic Scenes 2024
2 CMNeXt (RGB-D-E-LiDAR) 67.84 Delivering Arbitrary-Modal Semantic Segmentation jamycheung/DELIVER 2023
3 HSPFormer-DBS(RGB-Depth) 67.32 HSPFormer: Hierarchical Spatial Perception Transformer for Semantic Segmentation SY-Ch/HSPFormer 2025
4 HSPFormer-UFS(RGB) 66.82 HSPFormer: Hierarchical Spatial Perception Transformer for Semantic Segmentation SY-Ch/HSPFormer 2025
5 CMX (RGB-Depth) 64.43 CMX: Cross-Modal Fusion for RGB-X Semantic Segmentation with Transformers huaaaliu/rgbx_semantic_segmentation 2022
6 CMX (RGB-LiDAR) 64.31 CMX: Cross-Modal Fusion for RGB-X Semantic Segmentation with Transformers huaaaliu/rgbx_semantic_segmentation 2022
7 ACNet (ResNet50) 61.57 ACNet: Attention Based Network to Exploit Complementary Features for RGBD Semantic Segmentation anheidelonghu/ACNet 2019
8 TokenFusion (RGB-Depth) 57.44 Multimodal Token Fusion for Vision Transformers huawei-noah/noah-research · mindspore-ai/models · yikaiw/TokenFusion · +8 2022
9 ISSAFE (ResNet50) 56.64 ISSAFE: Improving Semantic Segmentation in Accidents by Fusing Event-based Data jamycheung/ISSAFE 2020
10 TransFuser (RGB-LiDAR) 56.57 Multi-Modal Fusion Transformer for End-to-End Autonomous Driving autonomousvision/transfuser · Kin-Zhang/mmfn 2021
11 TokenFusion (RGB-LiDAR) 54.55 Multimodal Token Fusion for Vision Transformers huawei-noah/noah-research · mindspore-ai/models · yikaiw/TokenFusion · +8 2022
12 PMF (RGB-LiDAR) 54.48 EPMF: Efficient Perception-aware Multi-sensor Fusion for 3D Semantic Segmentation ICEORY/PMF 2021
13 ISSAFE (ResNet18) 53.95 ISSAFE: Improving Semantic Segmentation in Accidents by Fusing Event-based Data jamycheung/ISSAFE 2020
14 HRFuser (RGB-D-LiDAR) 52.61 HRFuser: A Multi-resolution Sensor Fusion Architecture for 2D Object Detection timbroed/hrfuser 2022
15 HRFuser (RGB-Depth) 49.32 HRFuser: A Multi-resolution Sensor Fusion Architecture for 2D Object Detection timbroed/hrfuser 2022
16 HRFuser (RGB-LiDAR) 48.74 HRFuser: A Multi-resolution Sensor Fusion Architecture for 2D Object Detection timbroed/hrfuser 2022
17 PGSNet (RGB-D-LiDAR) 48.51 Glass Segmentation Using Intensity and Spectral Polarization Cues 2022
18 DiPFormer 68.74 Depth Matters: Exploring Deep Interactions of RGB-D for Semantic Segmentation in Traffic Scenes 2024
19 CMNeXt (RGB-D-E-LiDAR) 67.84 Delivering Arbitrary-Modal Semantic Segmentation jamycheung/DELIVER 2023
20 HSPFormer-DBS(RGB-Depth) 67.32 HSPFormer: Hierarchical Spatial Perception Transformer for Semantic Segmentation SY-Ch/HSPFormer 2025
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