LiDAR Semantic Segmentation on ScribbleKITTI (train)
63.1mIoUFRNet
Evaluation results
| Method | Links | ||
|---|---|---|---|
| FRNetRepresentation=Frustum-Range, Param=10.0M, FPS=29.12023.12 | 63.1 | 72.3 | |
| RangeFormer†Representation=Range View, Param=24.3M, FPS=6.22023.12 | 63 | — | |
| Fast-FRNetRepresentation=Frustum-Range, Param=7.5M, FPS=33.82023.12 | 62.4 | 71.2 | |
| IGNetUniform frame sampling rate (%)=50%2023.11 | 60.8 | — | |
| IGNetUniform frame sampling rate (%)=20%2023.11 | 59.6 | — | |
| IGNetUniform frame sampling rate (%)=10%2023.11 | 57.7 | — | |
| Cylinder3DRepresentation=Sparse Voxel, Param=55.9M, FPS=6.22023.12 | 57 | — | |
| SPVNASRepresentation=Sparse Voxel, Param=21.8M, FPS=8.92023.12 | 56.9 | — | |
| LaserMixUniform frame sampling rate (%)=50%2023.11 | 56.8 | — | |
| CENetRepresentation=Range View, Param=6.8M, FPS=33.42023.12 | 55.7 | 66.8 | |
| LaserMixUniform frame sampling rate (%)=20%2023.11 | 55.1 | — | |
| MinkUNetRepresentation=Sparse Voxel, Param=21.7M, FPS=9.12023.12 | 55 | — | |
| CPSUniform frame sampling rate (%)=50%2023.11 | 54.8 | — | |
| CBSTUniform frame sampling rate (%)=50%2023.11 | 54.5 | — | |
| FIDNetRepresentation=Range View, Param=6.1M, FPS=31.82023.12 | 54.1 | 65.4 | |
| DIALUniform frame sampling rate (%)=50%2023.11 | 53.9 | — | |
| CPSUniform frame sampling rate (%)=20%2023.11 | 53.9 | — | |
| Cylinder3DUniform frame sampling rate (%)=50%2023.11 | 53.8 | — | |
| LaserMixUniform frame sampling rate (%)=10%2023.11 | 53.7 | — | |
| RangeViT†Representation=Range View, Param=23.7M, FPS=10.02023.12 | 53.6 | 66.5 | |
| CBSTUniform frame sampling rate (%)=20%2023.11 | 53.3 | — | |
| DIALUniform frame sampling rate (%)=20%2023.11 | 52.8 | — | |
| Cylinder3DUniform frame sampling rate (%)=20%2023.11 | 52.1 | — | |
| CPSUniform frame sampling rate (%)=10%2023.11 | 51.8 | — | |
| CBSTUniform frame sampling rate (%)=10%2023.11 | 50.6 | — | |
| DIALUniform frame sampling rate (%)=10%2023.11 | 50.1 | — | |
| Cylinder3DUniform frame sampling rate (%)=10%2023.11 | 48 | — | |
| RangeNet++Representation=Range View, Param=50.4M, FPS=12.02023.12 | 44.6 | 57.8 | |
| IGNetUniform frame sampling rate (%)=1%2023.11 | 44.4 | — | |
| LaserMixUniform frame sampling rate (%)=1%2023.11 | 44.2 | — | |
| CBSTUniform frame sampling rate (%)=1%2023.11 | 41.5 | — | |
| CPSUniform frame sampling rate (%)=1%2023.11 | 41.4 | — | |
| DIALUniform frame sampling rate (%)=1%2023.11 | 41 | — | |
| Cylinder3DUniform frame sampling rate (%)=1%2023.11 | 39.2 | — |