2D Panoptic Mapping on ScanNet V2 (val)
85.91mIoU (semantic-only)PanopticNDT
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| PanopticNDTVoxel Size=5cm, Segmentation Source=Ground Truth, Mapping Information=Panoptic2023.09 | 85.91 | 85.73 | 68.2 | 77.15 | — | |
| SemanticNDTVoxel Size=10cm, Segmentation Source=Ground Truth, Mapping Information=Semantic-only2023.09 | 82.11 | — | — | — | — | |
| PanopticNDTVoxel Size=10cm, Segmentation Source=Ground Truth, Mapping Information=Panoptic2023.09 | 82.06 | 81.3 | 61.22 | 62.82 | — | |
| PanopticNDTVoxel Size=20cm, Segmentation Source=Ground Truth, Mapping Information=Panoptic2023.09 | 72.09 | 71.24 | 48.02 | 44.03 | — | |
| EMSANetbackbone=ResNet-34, model=NBt1D2023.09 | 70.99 | 66.19 | 58.22 | 41.94 | — | |
| PanopticNDTvoxel size=5cm2023.09 | 68.31 | 67.71 | 52.48 | 39.18 | — | |
| PanopticNDTVoxel Size=5cm, Segmentation Source=EMSANet Prediction, Mapping Information=Panoptic2023.09 | 68.31 | 67.71 | 52.48 | 39.18 | — | |
| SemanticNDTvoxel size=10cm2023.09 | 67.71 | — | — | — | — | |
| SemanticNDTVoxel Size=10cm, Segmentation Source=EMSANet Prediction, Mapping Information=Semantic-only2023.09 | 67.71 | — | — | — | — | |
| PanopticNDTvoxel size=10cm2023.09 | 67.7 | 66.17 | 50.48 | 37.76 | — | |
| PanopticNDTVoxel Size=10cm, Segmentation Source=EMSANet Prediction, Mapping Information=Panoptic2023.09 | 67.7 | 66.17 | 50.48 | 37.76 | — | |
| PanopticNDTVoxel Size=20cm, Segmentation Source=EMSANet Prediction, Mapping Information=Panoptic2023.09 | 60.85 | 58.85 | 41.19 | 28.66 | — |