4D Panoptic Segmentation on SemanticKITTI (val)
71.4LSTQMask4D
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| Mask4Dconcurrent_work=true2023.09 | 71.4 | 75.4 | 67.5 | 65.8 | 69.9 | — | — | — | — | |
| Mask4Former2023.09 | 70.5 | 74.3 | 66.9 | 67.1 | 66.6 | — | — | — | — | |
| Eq-4D-StOPconcurrent_work=true2023.09 | 70.1 | 77.6 | 63.4 | 66.4 | 67.1 | — | — | — | — | |
| 4D-DS-Net2022.03 | 68 | 71.3 | 64.8 | 64.5 | 65.3 | — | — | — | — | |
| 4D-DS-Net2023.09 | 68 | 71.3 | 64.8 | 64.5 | 65.3 | — | — | — | — | |
| DS-Net + Feat. Fus.mode=Feature Fusion2022.03 | 67.8 | 72.1 | 63.7 | 64.2 | 63.1 | — | — | — | — | |
| 4D-StOPtraining_type=End-to-End, number_of_scans=42022.09 | 67 | 74.4 | 60.3 | 65.3 | 60.9 | — | — | — | — | |
| 4D-StOP2023.09 | 67 | 74.4 | 60.3 | 65.3 | 60.9 | — | — | — | — | |
| 4D-StOPtraining_type=End-to-End, number_of_scans=22022.09 | 66.4 | 71.8 | 61.4 | 64.9 | 64.1 | — | — | — | — | |
| DS-Net + Trackingtracking=Tracking module [27]2022.03 | 65.9 | 68.4 | 63.1 | 64 | 61.9 | — | — | — | — | |
| 4D-PLS2022.03 | 62.8 | 65.1 | 60.5 | 65.4 | 61.3 | — | — | — | — | |
| 4D-PLSNumber of scans=42021.02 | 62.74 | 65.11 | 60.46 | 65.36 | 61.26 | 51.5 | 51.2 | 0.34 | 4.8 | |
| 4D-PLStraining_type=End-to-End, number_of_scans=42022.09 | 62.7 | 65.1 | 60.5 | 65.4 | 61.3 | — | — | — | — | |
| 4D-PLS2023.09 | 62.7 | 65.1 | 60.5 | 65.4 | 61.3 | — | — | — | — | |
| 4D-PLStraining_type=End-to-End, number_of_scans=22022.09 | 59.9 | 58.8 | 61 | 65 | 63.1 | — | — | — | — | |
| 4D-PLSNumber of scans=22021.02 | 59.86 | 58.79 | 60.95 | 64.96 | 63.06 | 51.14 | 50.67 | 29.04 | 33.2 | |
| 4D-PLSNumber of scans=1, Tracking Method=MOT2021.02 | 51.92 | 45.16 | 59.69 | 64.6 | 60.4 | 48.36 | 47.84 | 6.65 | 12.69 | |
| KP + PP + MOTsegmentation=KPConv, detection=PointPillars, temporal=Multi-Object Tracking2022.03 | 46.3 | 37.6 | 57 | 64.2 | 54.1 | — | — | — | — | |
| KPConv + PP + MOTtraining_type=Not End-to-End, Backbone=KPConv, Post-processing=PointPillars (PP), Tracker=MOT2022.09 | 46.3 | 37.6 | 57 | 64.2 | 54.1 | — | — | — | — | |
| KPConv+PP+MOTdetector=PointPillars, tracking=MOT2023.09 | 46.3 | 37.6 | 57 | 64.2 | 54.1 | — | — | — | — | |
| KPConv + PointPillars + MOTBackbone=KPConv, Detector=PointPillars (PP), Tracking Method=MOT2021.02 | 46.27 | 37.58 | 56.97 | 64.21 | 54.13 | 39.13 | 38.11 | -6.16 | -2.41 | |
| KP + PP + SFPsegmentation=KPConv, detection=PointPillars, temporal=Scene Flow based Propagation2022.03 | 46 | 37.1 | 57 | 64.2 | 54.1 | — | — | — | — | |
| KPConv + PP + SFPtraining_type=Not End-to-End, Backbone=KPConv, Post-processing=PointPillars (PP), Tracker=SFP2022.09 | 46 | 37.1 | 57 | 64.2 | 54.1 | — | — | — | — | |
| KPConv+PP+SFPdetector=PointPillars, propagation=Scene flow based propagation (SFP)2023.09 | 46 | 37.1 | 57 | 64.2 | 54.1 | — | — | — | — | |
| KPConv + PointPillars + SFPBackbone=KPConv, Detector=PointPillars (PP), Tracking Method=SFP2021.02 | 45.95 | 37.07 | 56.97 | 64.21 | 54.13 | 41.44 | 41.05 | 2.83 | 6.1 | |
| 4D-PLSNumber of scans=1, Tracking Method=SFP2021.02 | 45.45 | 34.61 | 59.69 | 64.6 | 60.4 | 48.24 | 47.72 | 3.01 | 7.93 | |
| RN + PP + MOTsegmentation=RangeNet++, detection=PointPillars, temporal=Multi-Object Tracking2022.03 | 43.8 | 36.3 | 52.8 | 60.5 | 42.2 | — | — | — | — | |
| RangeNet++ + PP + MOTtraining_type=Not End-to-End, Backbone=RangeNet++, Post-processing=PointPillars (PP), Tracker=MOT2022.09 | 43.8 | 36.3 | 52.8 | 60.5 | 42.2 | — | — | — | — | |
| RangeNet++ + PointPillars + MOTBackbone=RangeNet++, Detector=PointPillars (PP), Tracking Method=MOT2021.02 | 43.76 | 36.28 | 52.78 | 60.49 | 42.17 | 34.58 | 33.83 | -7.88 | -4.57 | |
| RN + PP + SFPsegmentation=RangeNet++, detection=PointPillars, temporal=Scene Flow based Propagation2022.03 | 43.4 | 35.7 | 52.8 | 60.5 | 42.2 | — | — | — | — | |
| RangeNet++ + PP + SFPtraining_type=Not End-to-End, Backbone=RangeNet++, Post-processing=PointPillars (PP), Tracker=SFP2022.09 | 43.4 | 35.7 | 52.8 | 60.5 | 42.2 | — | — | — | — | |
| RangeNet+++PP+SFPdetector=PointPillars, propagation=Scene flow based propagation (SFP)2023.09 | 43.4 | 35.7 | 52.8 | 60.5 | 42.2 | — | — | — | — | |
| RangeNet++ + PointPillars + SFPBackbone=RangeNet++, Detector=PointPillars (PP), Tracking Method=SFP2021.02 | 43.38 | 35.66 | 52.78 | 60.49 | 42.17 | 35.83 | 35.46 | -3.13 | -0.01 | |
| MOPT2021.02 | 24.8 | 11.73 | 52.41 | 62.37 | 45.27 | 41.82 | 42.39 | 12.88 | 17.07 | |
| MOPTtraining_type=End-to-End2022.09 | 24.8 | 11.7 | 52.4 | 62.4 | 45.3 | — | — | — | — | |
| 4D-StOPNumber of input scans=2f2025.12 | — | — | — | — | — | 53.7 | 53.4 | 27.1 | 31 | |
| EQ-4D-StOPNumber of input scans=2f2025.12 | — | — | — | — | — | 56.7 | 56.4 | 39.6 | 43.6 | |
| Mask4DNumber of input scans=1f2025.12 | — | — | — | — | — | 58.5 | 58.4 | 48.1 | 52.1 | |
| Mask4FormerNumber of input scans=2f2025.12 | — | — | — | — | — | 48.5 | 48.3 | 42.1 | 47.3 | |
| Mask4Former + CA-NetNumber of input scans=1f2025.12 | — | — | — | — | — | 49.1 | 48.9 | 43.1 | 48.4 | |
| Mask4Former + ICP-4DNumber of input scans=1f2025.12 | — | — | — | — | — | 59.7 | 59.6 | 65.7 | 73.3 |