Anomaly Segmentation on SemanticKITTI-OoD Multi (val)
96.76AUROCOurs
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| OursAuxiliary OOD Data=true, Architecture=Mask4Former [48]2025.11 | 96.76 | 18.66 | 67.32 | |
| UEMAuxiliary OOD Data=true, Architecture=Mask4Former [48]2025.11 | 93.15 | 37.07 | 61.73 | |
| LiON*Auxiliary OOD Data=true, Architecture=Cylinder3D [49]2025.11 | 92.69 | — | 44.68 | |
| Mask4Former3D + Deep EnsembleBackbone=Mask4Former3D, Anomaly Detection Method=Deep Ensemble2026.04 | 92.19 | 28.64 | 12.04 | |
| Max LogitAuxiliary OOD Data=false, Architecture=Mask4Former [48]2025.11 | 90.73 | 47.63 | 53.86 | |
| LIDOAnomaly Detection Method=LIDO2026.04 | 89.89 | 39.04 | 9.42 | |
| MinkowskiNet + Deep EnsembleBackbone=MinkowskiNet, Anomaly Detection Method=Deep Ensemble2026.04 | 89.03 | 42.34 | 6.21 | |
| MinkowskiNet + Max LogitBackbone=MinkowskiNet, Anomaly Detection Method=Max Logit2026.04 | 86.93 | 48.01 | 3.88 | |
| APF*Auxiliary OOD Data=false, Architecture=Cylinder3D [49]2025.11 | 85.6 | — | 36.1 | |
| MinkowskiNet + MC DropoutBackbone=MinkowskiNet, Anomaly Detection Method=MC Dropout2026.04 | 84.93 | 57.46 | 4.48 | |
| REAL*Auxiliary OOD Data=true, Architecture=Cylinder3D [49]2025.11 | 84.9 | — | 20.08 | |
| Mask4Former3D + Max LogitBackbone=Mask4Former3D, Anomaly Detection Method=Max Logit2026.04 | 84.05 | 99.32 | 13.84 | |
| RbAAuxiliary OOD Data=false, Architecture=Mask4Former [48]2025.11 | 78.86 | 100 | 55.23 | |
| Mask4Former3D + RbABackbone=Mask4Former3D, Anomaly Detection Method=RbA2026.04 | 71.39 | 100 | 13.63 | |
| MinkowskiNet + Void ClassifierBackbone=MinkowskiNet, Anomaly Detection Method=Void Classifier2026.04 | 50.89 | 84.33 | 0.53 | |
| MinkowskiNet + RbABackbone=MinkowskiNet, Anomaly Detection Method=RbA2026.04 | 36.9 | 96.54 | 0.41 |