3D Semantic Segmentation on SynLiDAR to SemanticSTF (val)
51.9mIoU (D-fog)Oracle
Evaluation results
| Method | Links | ||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Oracle2024.07 | 51.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 54.6 | 57.9 | 53.7 | 54.7 | |
| UniMix2024.04 | 24.3 | 65.4 | 0.1 | 390 | 16.9 | 530 | 32.3 | 2 | 19.3 | 52.1 | 500 | 27.3 | 300 | 49.4 | 20.3 | 58.5 | 22.7 | 23.2 | 26.9 | 10.4 | 22.9 | 26.1 | 20.9 | 23.4 | |
| PointDRsegmentation backbone=reproduced with same backbone, validation protocol=SynLiDAR sequence 0 for model selection2024.07 | 21.41 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 20.94 | 25.48 | 19.31 | 20.47 | |
| PointDR2024.04 | 19.5 | 37.8 | 2.5 | 240 | 23.6 | 10 | 26.3 | 2.2 | 3.3 | 27.9 | 770 | 17.5 | 50 | 47.6 | 25.3 | 45.7 | 21 | 37.5 | 17.9 | 5.5 | 19.9 | 21.1 | 16.9 | 18.5 | |
| PointDRsegmentation backbone=reproduced with same backbone, validation protocol=Standard (SemanticSTF)2024.07 | 19.09 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 20.28 | 25.29 | 18.98 | 19.78 | |
| Baseline SJ+LPDvalidation protocol=Standard (SemanticSTF)2024.07 | 19.08 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 20.65 | 21.97 | 17.27 | 20.08 | |
| Baseline+SJ+LPDvalidation protocol=SynLiDAR sequence 0 for model selection2024.07 | 18.99 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 21.22 | 23.14 | 17.28 | 20.51 | |
| PCL2024.04 | 17.8 | 30.9 | 0.8 | 140 | 10 | 40 | 23.3 | 4 | 7.9 | 28.5 | 130 | 17.7 | 120 | 39.4 | 18.5 | 40 | 16 | 38.6 | 12.1 | 2.3 | 16.7 | 19.3 | 14.1 | 15.5 | |
| MMD2024.04 | 17.3 | 25.5 | 2.3 | 210 | 13.2 | 70 | 22.1 | 1.4 | 7.5 | 30.8 | 40 | 17.6 | 20 | 30.9 | 19.7 | 37.6 | 19.3 | 43.5 | 9.9 | 2.6 | 16.3 | 20 | 12.7 | 15.1 | |
| Source-only2024.04 | 16.9 | 27.1 | 3 | 60 | 15.8 | 10 | 25.2 | 1.8 | 5.6 | 23.9 | 30 | 14.6 | 60 | 36.3 | 19.9 | 37.9 | 17.9 | 41.8 | 9.5 | 2.3 | 17.2 | 17.2 | 11.9 | 15 | |
| PolarMix2024.07 | 16.47 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 18.69 | 19.63 | 15.98 | 18.09 | |
| Perturbation2024.04 | 16.3 | 27.1 | 2.3 | 230 | 16 | 10 | 23.7 | 1.2 | 4 | 27 | 360 | 16.2 | 80 | 29.2 | 16.7 | 35.3 | 22.7 | 38.3 | 17.9 | 5.1 | 16.7 | 19.3 | 13.4 | 15.2 | |
| PolarMix2024.04 | 16.1 | 39.2 | 1.1 | 120 | 8.3 | 150 | 17.8 | 0.8 | 0.7 | 23.3 | 130 | 17.5 | 40 | 45.2 | 24.8 | 46.2 | 20.1 | 38.7 | 7.6 | 1.9 | 15.5 | 19.2 | 15.6 | 15.7 | |
| LaserMix2024.07 | 15.32 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 17.95 | 18.55 | 13.8 | 16.85 | |
| Dropout2024.04 | 15.3 | 28 | 3 | 140 | 9.6 | 0 | 17.1 | 0.8 | 0.7 | 34.2 | 680 | 19.1 | 10 | 35.5 | 19.1 | 42.3 | 17.6 | 36 | 14 | 2.8 | 16.6 | 20.4 | 14 | 15.2 | |
| Baseline2024.07 | 15.24 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 15.97 | 16.83 | 12.76 | 15.45 |