3D LiDAR Scene Completion on Apollo (sequence 00)
0.277CD (m)LiFlow
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| LiFlowSteps=5, Refinement Network=Yes2026.02 | 0.277 | 0.346 | 33.4 | 21.6 | 11 | 4.8 | |
| LiFlowSteps=10, Refinement Network=Yes2026.02 | 0.282 | 0.35 | 32.9 | 21.4 | 11.1 | 7.4 | |
| LiFlowSteps=20, Refinement Network=Yes2026.02 | 0.285 | 0.351 | 32.6 | 21.1 | 10.8 | 12.8 | |
| LiFlowSteps=50, Refinement Network=Yes2026.02 | 0.286 | 0.352 | 32.4 | 20.8 | 10.6 | 28.9 | |
| LiDiffSteps=10, Refinement Network=Yes2026.02 | 0.35 | 0.343 | 33.4 | 17.8 | 6.7 | 7.5 | |
| LiFlowSteps=5, Refinement Network=No2026.02 | 0.351 | 0.398 | 28.2 | 10.7 | 3 | 4.7 | |
| LiFlowSteps=10, Refinement Network=No2026.02 | 0.359 | 0.406 | 27.2 | 10.4 | 2.8 | 7.3 | |
| LiFlowSteps=20, Refinement Network=No2026.02 | 0.365 | 0.409 | 26.8 | 10 | 2.7 | 12.7 | |
| LiFlowSteps=50, Refinement Network=No2026.02 | 0.367 | 0.412 | 26.6 | 9.8 | 2.6 | 28.8 | |
| LiDiffSteps=20, Refinement Network=Yes2026.02 | 0.386 | 0.38 | 31.3 | 19 | 9.2 | 12.4 | |
| LiDiffSteps=50, Refinement Network=Yes2026.02 | 0.389 | 0.381 | 29.5 | 20.2 | 11.8 | 27.2 | |
| LiDiffSteps=5, Refinement Network=Yes2026.02 | 0.396 | 0.322 | 27.6 | 12.1 | 3.7 | 5.2 | |
| LiDPMSteps=10, Refinement Network=Yes2026.02 | 0.408 | 0.403 | 30.8 | 21.4 | 12.5 | 7.5 | |
| LiDPMSteps=20, Refinement Network=Yes2026.02 | 0.409 | 0.403 | 30.9 | 21.6 | 12.6 | 12.4 | |
| LiDPMSteps=50, Refinement Network=Yes2026.02 | 0.41 | 0.403 | 30.9 | 21.6 | 12.6 | 27.2 | |
| LiDPMSteps=5, Refinement Network=Yes2026.02 | 0.417 | 0.405 | 30.3 | 21 | 12.3 | 5.2 | |
| LiDiffSteps=10, Refinement Network=No2026.02 | 0.437 | 0.398 | 26.7 | 9.2 | 2.3 | 7.4 | |
| LiDiffSteps=50, Refinement Network=No2026.02 | 0.451 | 0.43 | 25.6 | 13.4 | 4.4 | 27.1 | |
| LiDiffSteps=20, Refinement Network=No2026.02 | 0.457 | 0.427 | 26.3 | 11.3 | 3.3 | 12.3 | |
| LiDPMSteps=10, Refinement Network=No2026.02 | 0.478 | 0.44 | 28.1 | 14.8 | 4.7 | 7.4 | |
| LiDPMSteps=20, Refinement Network=No2026.02 | 0.478 | 0.439 | 28.7 | 15.1 | 4.6 | 12.3 | |
| LiDPMSteps=50, Refinement Network=No2026.02 | 0.478 | 0.438 | 29.1 | 15.3 | 4.6 | 27.1 | |
| LiDPMSteps=5, Refinement Network=No2026.02 | 0.485 | 0.442 | 27.5 | 14.4 | 4.7 | 5.1 | |
| LiDiffSteps=5, Refinement Network=No2026.02 | 0.492 | 0.381 | 21.3 | 5.4 | 1.1 | 5.1 |