2D Object Detection on SUN-RGBD (val)
0.881AP (bed)UODDM
Evaluation results
| Method | Links | ||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| UODDMImage Source=Point Cloud only, Backbone=Swin-T2022.07 | 0.881 | 0.876 | 0.538 | 0.668 | 0.695 | 0.287 | 0.622 | 0.472 | 0.197 | 0.419 | — | 68.5 | 35.8 | 28.5 | 62.8 | 41.9 | 0.566 | 53.4 | — | — | |
| UODDM + CPPMImage Source=Point Cloud only, Backbone=Swin-T2022.07 | 0.88 | 0.856 | 0.518 | 0.683 | 0.686 | 0.269 | 0.616 | 0.455 | 0.202 | 0.417 | — | 67.6 | 33 | 29.2 | 61.6 | 47.4 | 0.558 | 52.8 | — | — | |
| Ours with simCrossTransImage Source=Point Cloud only, Backbone=Swin-T2022.03 | 0.872 | 0.877 | 0.516 | 0.695 | 0.69 | 0.27 | 0.605 | 0.481 | 0.193 | 0.366 | 61.2 | 35.5 | 47.7 | 41.9 | 55.8 | 52.7 | — | — | — | — | |
| simCrossTransImage Source=Point Cloud only, Backbone=Swin-T2022.07 | 0.872 | 0.877 | 0.516 | 0.695 | 0.69 | 0.27 | 0.605 | 0.481 | 0.193 | 0.383 | — | 68.1 | 35.5 | 30.7 | 61.2 | 41.9 | 0.558 | 52.7 | — | — | |
| UODDM + CPPMImage Source=RGB & Depth/Point Cloud, Backbone=Swin-T2022.07 | 0.865 | 0.91 | 0.544 | 0.702 | 0.672 | 0.303 | 0.575 | 0.487 | 0.228 | 0.527 | — | 66.6 | 41.2 | 29.2 | 68.6 | 57.9 | 0.581 | 55.8 | — | — | |
| UODDMImage Source=RGB, Backbone=Swin-T2022.07 | 0.836 | 0.871 | 0.533 | 0.588 | 0.625 | 0.226 | 0.542 | 0.468 | 0.22 | 0.48 | — | 63.7 | 38.4 | 28.9 | 67.1 | 57.4 | 0.539 | 52.5 | — | — | |
| UODDM + CPPMImage Source=RGB, Backbone=Swin-T2022.07 | 0.836 | 0.886 | 0.53 | 0.591 | 0.608 | 0.265 | 0.507 | 0.461 | 0.22 | 0.52 | — | 60.6 | 37.8 | 31.2 | 64.7 | 54.3 | 0.542 | 51.9 | — | — | |
| rgb only modelImage Source=RGB, Backbone=Swin-T2022.07 | 0.832 | 0.939 | 0.518 | 0.542 | 0.604 | 0.237 | 0.513 | 0.463 | 0.225 | 0.544 | — | 60.4 | 39.8 | 32.7 | 67 | 48.1 | 0.542 | 52.3 | — | — | |
| Ours with simCrossTransImage Source=Point Cloud only, Backbone=ResNet 502022.03 | 0.821 | 0.788 | 0.435 | 0.499 | 0.6 | 0.148 | 0.503 | 0.411 | 0.13 | 0.316 | 58.9 | 26.7 | 41.4 | 29.8 | 25.6 | 30.6 | 0.393 | 46.5 | — | — | |
| F-VoxNetImage Source=RGB, Backbone=ResNet 1012022.03 | 0.81 | 0.895 | 0.351 | 0.5 | 0.524 | 0.219 | 0.531 | 0.377 | 0.183 | — | — | — | — | — | — | — | 0.568 | — | — | — | |
| F-VoxNetImage Source=RGB, Backbone=ResNet 1012022.07 | 0.81 | 0.895 | 0.351 | 0.5 | 0.524 | 0.219 | 0.531 | 0.377 | 0.183 | 0.404 | — | 47.8 | 29.8 | 22 | 52.8 | 39.7 | 0.479 | — | — | — | |
| Frustum VoxNetInput Modality=RGB2019.10 | 0.81 | 0.895 | 0.351 | 0.5 | 0.524 | 0.219 | 0.531 | 0.377 | 0.183 | 0.404 | — | 22 | 0.528 | — | 39.7 | 0.31 | — | — | 47.8 | 29.8 | |
| F-VoxNetImage Source=RGB, Backbone=ResNet 1012022.03 | 0.787 | 0.776 | 0.342 | 0.519 | 0.518 | 0.165 | 0.485 | 0.349 | 0.142 | — | — | — | — | — | — | — | 0.419 | — | — | — | |
| F-VoxNetImage Source=Point Cloud only, Backbone=ResNet 1012022.07 | 0.787 | 0.776 | 0.342 | 0.519 | 0.518 | 0.165 | 0.485 | 0.349 | 0.142 | 0.192 | — | 48.7 | 18.5 | 19.1 | 30.3 | 22.2 | 0.428 | 37.3 | — | — | |
| Frustum VoxNetInput Modality=Depth2019.10 | 0.787 | 0.776 | 0.342 | 0.519 | 0.518 | 0.165 | 0.485 | 0.349 | 0.142 | 0.192 | — | 19.1 | 0.303 | — | 22.2 | 0.301 | — | — | 48.7 | 18.5 | |
| Ours w/o simCrossTransImage Source=Point Cloud only, Backbone=Swin-T2022.03 | 0.767 | 0.584 | 0.231 | 0.497 | 0.572 | 0.121 | 0.405 | 0.415 | 0.135 | 0.197 | 38.3 | 68.1 | 37.8 | 30.7 | 29.2 | 23.7 | 0.252 | 39.6 | — | — | |
| RGB-D RCNNImage Source=RGB & Depth, Backbone=VGG2022.03 | 0.76 | 0.698 | 0.371 | 0.496 | 0.412 | 0.313 | 0.422 | 0.43 | 0.166 | 0.349 | — | — | — | — | — | — | 0.457 | — | — | — | |
| RGB-D RCNNImage Source=RGB & Depth/Point Cloud, Backbone=VGG2022.07 | 0.76 | 0.698 | 0.371 | 0.496 | 0.412 | 0.313 | 0.422 | 0.43 | 0.166 | 0.349 | — | — | — | — | 46.8 | 41.9 | 0.442 | — | — | — | |
| RGB-D RCNNInput Modality=RGB-D2019.10 | 0.76 | 0.698 | 0.371 | 0.496 | 0.412 | 0.313 | 0.422 | 0.43 | 0.166 | 0.349 | — | — | 0.468 | — | — | 0.419 | — | — | — | — | |
| 2D-drivenImage Source=RGB, Backbone=VGG-162022.03 | 0.745 | 0.862 | 0.495 | 0.455 | 0.53 | 0.294 | 0.49 | 0.423 | 0.223 | 0.672 | — | — | — | — | — | — | 0.468 | — | — | — | |
| 2D-drivenImage Source=RGB, Backbone=VGG-162022.07 | 0.745 | 0.862 | 0.495 | 0.455 | 0.53 | 0.294 | 0.49 | 0.423 | 0.223 | 0.457 | — | — | — | — | — | — | 0.497 | — | — | — | |
| 2D-drivenInput Modality=RGB2019.10 | 0.745 | 0.862 | 0.495 | 0.455 | 0.53 | 0.294 | 0.49 | 0.423 | 0.223 | 0.457 | — | — | — | — | — | — | — | — | — | — | |
| Ours w/o simCrossTransImage Source=Point Cloud only, Backbone=ResNet 502022.03 | 0.722 | 0.517 | 0.22 | 0.444 | 0.495 | 0.096 | 0.336 | 0.335 | 0.097 | 0.122 | 41.8 | 15.7 | 25.3 | 22.8 | 22.8 | 12.9 | 0.195 | 33.8 | — | — | |
| Frustum PointNetsImage Source=RGB, Backbone=adjusted VGG from SSD2022.03 | 0.567 | 0.435 | 0.372 | 0.813 | 0.641 | 0.333 | 0.574 | 0.499 | 0.778 | — | — | — | — | — | — | — | 0.497 | — | — | — | |
| Frustum PointNetsImage Source=RGB, Backbone=adjusted VGG from SSD2022.07 | 0.567 | 0.435 | 0.372 | 0.813 | 0.641 | 0.333 | 0.574 | 0.499 | 0.778 | 0.672 | — | — | — | — | — | — | 0.568 | — | — | — | |
| Frustum PointNetsInput Modality=RGB2019.10 | 0.567 | 0.435 | 0.372 | 0.813 | 0.641 | 0.333 | 0.574 | 0.499 | 0.778 | 0.672 | — | — | — | — | — | — | — | — | — | — |