Instance-aware Occupancy Flow Prediction on nuScenes (val)
53.9IoUStreamingFlow-base
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| StreamingFlow-baseModality=LC, Image backbone=Effi-B4, LiDAR backbone=VoxelNet2023.02 | 53.9 | 52.8 | 76.8 | 68.7 | |
| FusionADModality=LC, Image backbone=ResNet-101, LiDAR backbone=VoxelNet2023.02 | 51.5 | 51.1 | — | — | |
| StreamingFlow-smallModality=LC, Image backbone=Effi-B7, LiDAR backbone=PillarNet2023.02 | 51.1 | 48 | 75.1 | 64 | |
| StreamingFlow-tinyModality=LC, Image backbone=Effi-B4, LiDAR backbone=PillarNet2023.02 | 47.8 | 46.1 | 75.8 | 60.8 | |
| StreamingFlowPred=2s2023.02 | 47.8 | 46.1 | 75.8 | 60.8 | |
| StreamingFlowPred=3s2023.02 | 44.4 | 41.1 | 74.1 | 55.4 | |
| StreamingFlowPred=4s2023.02 | 41.7 | 38.4 | 73.6 | 52.1 | |
| BEVerseModality=C, Image backbone=Swin-small2023.02 | 40.8 | 36.1 | 70.7 | 51.1 | |
| UniADModality=C, Image backbone=ResNet-1012023.02 | 40.2 | 33.5 | — | — | |
| BE-STIModality=L, LiDAR backbone=BESTI-STPN2023.02 | 40.1 | 41 | 75.5 | 54.3 | |
| StreamingFlowPred=5s2023.02 | 39.1 | 35.8 | 73.2 | 48.9 | |
| ST-P3 Ber.Modality=C, Image backbone=Effi-B42023.02 | 38.9 | 32.1 | 70.4 | 45.6 | |
| BEVerseModality=C, Image backbone=Swin-tiny2023.02 | 38.7 | 33.3 | 70.6 | 47.2 | |
| ST-P3 Gaus.Modality=C, Image backbone=Effi-B42023.02 | 38.6 | 31.7 | 70.2 | 45.2 | |
| MotionNetModality=L, LiDAR backbone=STPN2023.02 | 37.2 | 38.9 | 75.6 | 51.4 | |
| StretchBEVModality=C, Image backbone=Effi-B42023.02 | 37.1 | 29 | — | — | |
| StretchBEVPred=2s2023.02 | 37.1 | 29 | — | — | |
| FIERY*Modality=C, Image backbone=Effi-B42023.02 | 37 | 30.2 | 70.2 | 42.9 | |
| StreamingFlowPred=6s2023.02 | 36.7 | 33.6 | 72.9 | 46 | |
| FIERYPred=2s2023.02 | 35.8 | 29 | — | — | |
| StretchBEVPred=4s2023.02 | 32.5 | 23.8 | — | — | |
| StreamingFlowPred=8s2023.02 | 32.5 | 29.8 | 72.6 | 41 | |
| Static*Modality=C, Image backbone=Effi-B42023.02 | 32.2 | 27.6 | 70.1 | 39.1 | |
| FIERYPred=4s2023.02 | 30.1 | 23.6 | — | — | |
| StretchBEVPred=6s2023.02 | 28.4 | 21 | — | — | |
| FIERYPred=6s2023.02 | 26.7 | 20.9 | — | — |