3D Point Cloud Semantic Segmentation on SemanticSTF SemanticKITTI (val)
54.7mIoUOracle
Evaluation results
| Method | Links | |||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| OracleBackbone=MinkowskiNet, Evaluation Protocol=Evaluated on target domain2023.04 | 54.7 | 89.4 | 42.1 | 0 | 59.9 | 61.2 | 69.6 | 39 | 0 | 82.2 | 21.5 | 58.2 | 45.6 | 86.1 | 63.6 | 80.2 | 52 | 77.6 | 50.1 | 61.7 | — | — | — | — | — | |
| Oracle2024.04 | 54.7 | 89.4 | 42.1 | 0 | 59.9 | 61.2 | 69.6 | 39 | 0 | 82.2 | 21.5 | 58.2 | 45.6 | 86.1 | — | 63.6 | 80.2 | 52 | 77.6 | 50.1 | 61.7 | 51.9 | 54.6 | 57.9 | 53.7 | |
| Oracle2024.07 | 54.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 51.9 | 54.6 | 57.9 | 53.7 | |
| Baseline+SJ+LPD2024.07 | 39.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 36 | 37.5 | 37.6 | 33.1 | |
| PointDRsegmentation backbone=reproduced with same backbone2024.07 | 33.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 37.3 | 33.5 | 35.5 | 26.9 | |
| UniMix2024.04 | 31.4 | 82.7 | 6.6 | 8.6 | 4.5 | 15.1 | 35.5 | 15.5 | 37.7 | 55.8 | 10.2 | 36.2 | 1.3 | 72.8 | — | 40.1 | 49.1 | 33.4 | 34.9 | 23.5 | 33.5 | 34.8 | 30.2 | 34.9 | 30.9 | |
| Baseline2024.07 | 31.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 30.7 | 30.1 | 29.7 | 25.3 | |
| PointDRBackbone=MinkowskiNet2023.04 | 28.6 | 67.3 | 0 | 4.5 | 19.6 | 9 | 18.8 | 2.7 | 0 | 62.6 | 12.9 | 38.1 | 0.6 | 73.3 | 43.8 | 56.4 | 32.2 | 45.7 | 28.7 | 27.4 | — | — | — | — | — | |
| PointDR2024.04 | 28.6 | 67.3 | 0 | 4.5 | 19.6 | 9 | 18.8 | 2.7 | 0 | 62.6 | 12.9 | 38.1 | 0.6 | 73.3 | — | 43.8 | 56.4 | 32.2 | 45.7 | 28.7 | 27.4 | 31.3 | 29.7 | 31.9 | 26.2 | |
| MMDBackbone=MinkowskiNet2023.04 | 26.9 | 63.6 | 0 | 2.6 | 0.1 | 11.4 | 28.1 | 0 | 0 | 67 | 14.1 | 37.9 | 0.3 | 67.3 | 41.2 | 57.1 | 27.4 | 47.9 | 28.2 | 16.2 | — | — | — | — | — | |
| MMD2024.04 | 26.9 | 63.6 | 0 | 2.6 | 0.1 | 11.4 | 28.1 | 0 | 0 | 67 | 14.1 | 37.9 | 0.3 | 67.3 | — | 41.2 | 57.1 | 27.4 | 47.9 | 28.2 | 16.2 | 30.4 | 28.1 | 32.8 | 25.2 | |
| PCLBackbone=MinkowskiNet2023.04 | 26.4 | 65.9 | 0 | 0 | 17.7 | 0.4 | 8.4 | 0 | 0 | 59.6 | 12 | 35 | 1.6 | 74 | 47.5 | 60.7 | 15.8 | 48.9 | 26.1 | 27.5 | — | — | — | — | — | |
| PCL2024.04 | 26.4 | 65.9 | 0 | 0 | 17.7 | 0.4 | 8.4 | 0 | 0 | 59.6 | 12 | 35 | 1.6 | 74 | — | 47.5 | 60.7 | 15.8 | 48.9 | 26.1 | 27.5 | 28.9 | 27.6 | 30.1 | 24.6 | |
| PolarMixBackbone=MinkowskiNet2023.04 | 26 | 57.8 | 1.8 | 3.8 | 16.7 | 3.7 | 26.5 | 0 | 2 | 65.7 | 2.9 | 32.5 | 0.3 | 71 | 48.7 | 53.8 | 20.5 | 45.4 | 25.9 | 15.8 | — | — | — | — | — | |
| PolarMix2024.04 | 26 | 57.8 | 1.8 | 3.8 | 16.7 | 3.7 | 26.5 | 0 | 2 | 65.7 | 2.9 | 32.5 | 0.3 | 71 | — | 48.7 | 53.8 | 20.5 | 45.4 | 25.9 | 15.8 | 29.7 | 25 | 28.6 | 25.6 | |
| PerturbationBackbone=MinkowskiNet2023.04 | 25.9 | 74.4 | 0 | 0 | 23.3 | 0.6 | 19.7 | 0 | 0 | 60.3 | 10.8 | 33.9 | 0.7 | 72 | 45.2 | 58.7 | 17.5 | 42.4 | 22.1 | 9.7 | — | — | — | — | — | |
| Perturbation2024.04 | 25.9 | 74.4 | 0 | 0 | 23.3 | 0.6 | 19.7 | 0 | 0 | 60.3 | 10.8 | 33.9 | 0.7 | 72 | — | 45.2 | 58.7 | 17.5 | 42.4 | 22.1 | 9.7 | 26.3 | 27.8 | 30 | 24.5 | |
| DropoutBackbone=MinkowskiNet2023.04 | 25.7 | 62.1 | 0 | 15.5 | 3 | 11.5 | 5.4 | 2 | 0 | 58.4 | 12.8 | 26.7 | 1.1 | 72.1 | 43.6 | 52.9 | 34.2 | 43.5 | 28.4 | 15.5 | — | — | — | — | — | |
| Dropout2024.04 | 25.7 | 62.1 | 0 | 15.5 | 3 | 11.5 | 5.4 | 2 | 0 | 58.4 | 12.8 | 26.7 | 1.1 | 72.1 | — | 43.6 | 52.9 | 34.2 | 43.5 | 28.4 | 15.5 | 29.3 | 25.6 | 29.4 | 24.8 | |
| BaselineBackbone=MinkowskiNet2023.04 | 24.4 | 55.9 | 0 | 0.2 | 1.9 | 10.9 | 10.3 | 6 | 0 | 61.2 | 10.9 | 32 | 0 | 67.9 | 41.6 | 49.8 | 27.9 | 40.8 | 29.6 | 17.5 | — | — | — | — | — | |
| Source-only2024.04 | 24.4 | 55.9 | 0 | 0.2 | 1.9 | 10.9 | 10.3 | 6 | 0 | 61.2 | 10.9 | 32 | 0 | 67.9 | — | 41.6 | 49.8 | 27.9 | 40.8 | 29.6 | 17.5 | 29.5 | 26 | 28.4 | 21.4 | |
| PolarMix2024.07 | 15.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 21.3 | 14.9 | 16.5 | 9.3 | |
| LaserMix2024.07 | 14.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 23.2 | 15.5 | 9.3 | 7.8 |