Semantic Segmentation on KITTI-360

Metric: mIoU (higher is better)

LeaderboardDataset

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Results

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#	Model↕	mIoU▼	Extra Data	Paper	Date↕	Code
1	DiPFormer	68.74	No	Depth Matters: Exploring Deep Interactions of RG...	2024-09-12	-
2	CMNeXt (RGB-D-E-LiDAR)	67.84	No	Delivering Arbitrary-Modal Semantic Segmentation	2023-03-02	Code
3	HSPFormer-DBS(RGB-Depth)	67.32	No	-	-	Code
4	HSPFormer-UFS(RGB)	66.82	No	-	-	Code
5	CMX (RGB-Depth)	64.43	No	CMX: Cross-Modal Fusion for RGB-X Semantic Segme...	2022-03-09	Code
6	CMX (RGB-LiDAR)	64.31	No	CMX: Cross-Modal Fusion for RGB-X Semantic Segme...	2022-03-09	Code
7	ACNet (ResNet50)	61.57	No	ACNet: Attention Based Network to Exploit Comple...	2019-05-24	Code
8	TokenFusion (RGB-Depth)	57.44	No	Multimodal Token Fusion for Vision Transformers	2022-04-19	Code
9	ISSAFE (ResNet50)	56.64	No	ISSAFE: Improving Semantic Segmentation in Accid...	2020-08-20	Code
10	TransFuser (RGB-LiDAR)	56.57	No	Multi-Modal Fusion Transformer for End-to-End Au...	2021-04-19	Code
11	TokenFusion (RGB-LiDAR)	54.55	No	Multimodal Token Fusion for Vision Transformers	2022-04-19	Code
12	PMF (RGB-LiDAR)	54.48	No	EPMF: Efficient Perception-aware Multi-sensor Fu...	2021-06-21	Code
13	ISSAFE (ResNet18)	53.95	No	ISSAFE: Improving Semantic Segmentation in Accid...	2020-08-20	Code
14	HRFuser (RGB-D-LiDAR)	52.61	No	HRFuser: A Multi-resolution Sensor Fusion Archit...	2022-06-30	Code
15	HRFuser (RGB-Depth)	49.32	No	HRFuser: A Multi-resolution Sensor Fusion Archit...	2022-06-30	Code
16	HRFuser (RGB-LiDAR)	48.74	No	HRFuser: A Multi-resolution Sensor Fusion Archit...	2022-06-30	Code
17	PGSNet (RGB-D-LiDAR)	48.51	No	-	-	-

#1DiPFormerSOTA
68.74
mIoU· 2024-09-12
Depth Matters: Exploring Deep Interactions of RGB-D for Semantic Segmentation in Traffic Scenes
#2CMNeXt (RGB-D-E-LiDAR)SOTA
67.84
mIoU· 2023-03-02
Delivering Arbitrary-Modal Semantic Segmentation Code
#3HSPFormer-DBS(RGB-Depth)
67.32
mIoU
No paperCode
#4HSPFormer-UFS(RGB)
66.82
mIoU
No paperCode
#5CMX (RGB-Depth)SOTA
64.43
mIoU· 2022-03-09
CMX: Cross-Modal Fusion for RGB-X Semantic Segmentation with Transformers Code
#6CMX (RGB-LiDAR)
64.31
mIoU· 2022-03-09
CMX: Cross-Modal Fusion for RGB-X Semantic Segmentation with Transformers Code
#7ACNet (ResNet50)SOTA
61.57
mIoU· 2019-05-24
ACNet: Attention Based Network to Exploit Complementary Features for RGBD Semantic Segmentation Code
#8TokenFusion (RGB-Depth)
57.44
mIoU· 2022-04-19
Multimodal Token Fusion for Vision Transformers Code
#9ISSAFE (ResNet50)
56.64
mIoU· 2020-08-20
ISSAFE: Improving Semantic Segmentation in Accidents by Fusing Event-based Data Code
#10TransFuser (RGB-LiDAR)
56.57
mIoU· 2021-04-19
Multi-Modal Fusion Transformer for End-to-End Autonomous Driving Code
#11TokenFusion (RGB-LiDAR)
54.55
mIoU· 2022-04-19
Multimodal Token Fusion for Vision Transformers Code
#12PMF (RGB-LiDAR)
54.48
mIoU· 2021-06-21
EPMF: Efficient Perception-aware Multi-sensor Fusion for 3D Semantic Segmentation Code
#13ISSAFE (ResNet18)
53.95
mIoU· 2020-08-20
ISSAFE: Improving Semantic Segmentation in Accidents by Fusing Event-based Data Code
#14HRFuser (RGB-D-LiDAR)
52.61
mIoU· 2022-06-30
HRFuser: A Multi-resolution Sensor Fusion Architecture for 2D Object Detection Code
#15HRFuser (RGB-Depth)
49.32
mIoU· 2022-06-30
HRFuser: A Multi-resolution Sensor Fusion Architecture for 2D Object Detection Code
#16HRFuser (RGB-LiDAR)
48.74
mIoU· 2022-06-30
HRFuser: A Multi-resolution Sensor Fusion Architecture for 2D Object Detection Code
#17PGSNet (RGB-D-LiDAR)
48.51
mIoU
No paper