3D Object Detection on SUN-RGBD (val)
74.4Bathtub APVoteNet
Evaluation results
| Method | Links | |||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| VoteNetInput=Geo only2019.04 | 74.4 | 83 | 28.8 | 75.3 | 22 | 29.8 | 62.2 | 64 | 47.3 | 90.1 | 57.7 | — | — | — | — | |
| COGRuntime=10-30min2017.11 | 58.3 | 63.7 | 31.8 | 62.2 | 45.2 | 15.5 | 27.4 | 51 | 51.3 | 70.1 | 47.6 | — | — | — | — | |
| COGInput=Geo + RGB, room layout context=true2019.04 | 58.3 | 63.7 | 31.8 | 62.2 | 45.2 | 15.5 | 27.4 | 51 | 51.3 | 70.1 | 47.6 | — | — | — | — | |
| COGInput Modality=RGB-D2019.10 | 58.3 | 63.7 | 31.8 | 43.5 | 45.2 | 15.5 | 27.4 | 51 | 51.3 | 70.1 | — | — | — | — | — | |
| Frustum VoxNetInput Modality=RGB-D, 2D Network Architecture=FPN, 3D Network Architecture=3D ResNetFCN352019.10 | 44.6 | 79.5 | 19.1 | 49.1 | 12.5 | 19.6 | 36.2 | 40.8 | 27.5 | 84.6 | — | 48.2 | 110 | 128 | 0.24 | |
| DSSRuntime=19.55s2017.11 | 44.2 | 78.8 | 11.9 | 61.2 | 20.5 | 6.4 | 15.4 | 53.5 | 50.3 | 78.9 | 42.1 | — | — | — | — | |
| DSSInput=Geo + RGB2019.04 | 44.2 | 78.8 | 11.9 | 61.2 | 20.5 | 6.4 | 15.4 | 53.5 | 50.3 | 78.9 | 42.1 | — | — | — | — | |
| DSSInput Modality=RGB-D2019.10 | 44.2 | 78.8 | 11.9 | 61.2 | 20.5 | 6.4 | 15.4 | 62.2 | 50.3 | 78.9 | — | — | — | — | 19.55 | |
| Frustum VoxNetInput Modality=Depth only, 2D Network Architecture=FPN, 3D Network Architecture=3D ResNetFCN352019.10 | 43.7 | 77.4 | 17.4 | 45.8 | 11.8 | 15.2 | 33.1 | 37.3 | 25.5 | 76.8 | — | 35.4 | 110 | — | 0.24 | |
| 2D-drivenRuntime=4.15s2017.11 | 43.5 | 64.5 | 31.4 | 48.3 | 27.9 | 25.9 | 41.9 | 50.4 | 37 | 80.4 | 45.1 | — | — | — | — | |
| 2D-drivenInput=Geo + RGB, room layout context=true2019.04 | 43.5 | 64.5 | 31.4 | 48.3 | 27.9 | 25.9 | 41.9 | 50.4 | 37 | 80.4 | 45.1 | — | — | — | — | |
| 2D-drivenInput Modality=RGB-D2019.10 | 43.5 | 64.5 | 31.4 | 48.3 | 27.9 | 15.5 | 41.9 | 50.4 | 37 | 80.4 | — | — | — | — | 4.15 | |
| Frustum PointNets (v1)Runtime=0.12s2017.11 | 43.3 | 81.1 | 33.3 | 64.2 | 24.7 | 32 | 58.1 | 61.1 | 51.1 | 90.9 | 54 | — | — | — | — | |
| F-PointNetInput=Geo + RGB2019.04 | 43.3 | 81.1 | 33.3 | 64.2 | 24.7 | 32 | 58.1 | 61.1 | 51.1 | 90.9 | 54 | — | — | — | — | |
| Frustum PointNetsInput Modality=RGB-D2019.10 | 43.3 | 81.1 | 33.3 | 64.2 | 24.7 | 32 | 58.1 | 61.1 | 51.1 | 90 | — | — | 60 | 60 | 0.12 | |
| Frustum VoxNetInput Modality=RGB-D, 2D Network Architecture=FPN, 3D Network Architecture=3D ResNetFCN62019.10 | 42.4 | 78.5 | 18 | 47.2 | 12.4 | 18.2 | 34.5 | 40.3 | 30.4 | 84.5 | — | 47.6 | 110 | 48 | 0.16 | |
| Frustum VoxNetInput Modality=Depth only, 2D Network Architecture=FPN, 3D Network Architecture=3D ResNetFCN62019.10 | 42 | 77.1 | 16.8 | 45.9 | 11.7 | 14.1 | 32.4 | 35.8 | 25.3 | 76.1 | — | 35 | 110 | 48 | 0.16 |