Object Detection on BDD100k daytime
60.82mAP (Overall)Baseline
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| BaselineBackbone=YOLOv7x, Pre-training=pre-trained on COCO, Num. params (M)=71.3, Inf. time (ms)=822026.04 | 60.82 | — | — | — | — | — | — | — | — | |
| MoEBackbone=YOLOv7x, Pre-training=pre-trained on COCO, Num. params (M)=142.6, Inf. time (ms)=972026.04 | 60.82 | — | — | — | — | — | — | — | — | |
| EnsembleBackbone=YOLOv7x, Pre-training=pre-trained on COCO, Num. params (M)=142.6, Inf. time (ms)=1702026.04 | 60.54 | — | — | — | — | — | — | — | — | |
| Daytime expertBackbone=YOLOv7x, Pre-training=pre-trained on COCO, Num. params (M)=71.3, Inf. time (ms)=822026.04 | 60.47 | — | — | — | — | — | — | — | — | |
| Daytime expertBackbone=YOLOv7, Pre-training=pre-trained on COCO, Num. params (M)=63.9, Inf. time (ms)=732026.04 | 60.07 | — | — | — | — | — | — | — | — | |
| MoEBackbone=YOLOv7, Pre-training=pre-trained on COCO, Num. params (M)=127.8, Inf. time (ms)=802026.04 | 60.07 | — | — | — | — | — | — | — | — | |
| MoEBackbone=YOLOv9-E, Pre-training=pre-trained on COCO, Num. params (M)=114.6, Inf. time (ms)=1072026.04 | 59.93 | — | — | — | — | — | — | — | — | |
| BaselineBackbone=YOLOv7x, Pre-training=trained from scratch, Num. params (M)=71.3, Inf. time (ms)=832026.04 | 59.79 | — | — | — | — | — | — | — | — | |
| BaselineBackbone=YOLOv7, Pre-training=pre-trained on COCO, Num. params (M)=63.9, Inf. time (ms)=732026.04 | 59.68 | — | — | — | — | — | — | — | — | |
| Ensemble NMWBackbone=YOLOv7, Pre-training=pre-trained on COCO, Num. params (M)=127.8, Inf. time (ms)=1572026.04 | 59.65 | — | — | — | — | — | — | — | — | |
| MoEBackbone=YOLOv7x, Pre-training=trained from scratch, Num. params (M)=142.6, Inf. time (ms)=962026.04 | 59.52 | — | — | — | — | — | — | — | — | |
| Daytime expertBackbone=YOLOv7x, Pre-training=trained from scratch, Num. params (M)=71.3, Inf. time (ms)=832026.04 | 59.49 | — | — | — | — | — | — | — | — | |
| Daytime expertBackbone=YOLOv9-E, Pre-training=pre-trained on COCO, Num. params (M)=57.3, Inf. time (ms)=692026.04 | 59.48 | — | — | — | — | — | — | — | — | |
| EnsembleBackbone=YOLOv9-E, Pre-training=pre-trained on COCO, Num. params (M)=114.6, Inf. time (ms)=1072026.04 | 59.21 | — | — | — | — | — | — | — | — | |
| BaselineBackbone=YOLOv9-E, Pre-training=pre-trained on COCO, Num. params (M)=57.3, Inf. time (ms)=692026.04 | 59.16 | — | — | — | — | — | — | — | — | |
| EnsembleBackbone=YOLOv7x, Pre-training=trained from scratch, Num. params (M)=142.6, Inf. time (ms)=1782026.04 | 59.09 | — | — | — | — | — | — | — | — | |
| MoEBackbone=YOLOv9c, Pre-training=pre-trained on COCO, Num. params (M)=50.6, Inf. time (ms)=942026.04 | 57.75 | — | — | — | — | — | — | — | — | |
| Daytime expertBackbone=YOLOv9c, Pre-training=pre-trained on COCO, Num. params (M)=25.3, Inf. time (ms)=632026.04 | 56.95 | — | — | — | — | — | — | — | — | |
| BaselineBackbone=YOLOv9c, Pre-training=pre-trained on COCO, Num. params (M)=25.3, Inf. time (ms)=632026.04 | 56.83 | — | — | — | — | — | — | — | — | |
| BaselineBackbone=YOLOv9c, Pre-training=trained from scratch, Num. params (M)=25.3, Inf. time (ms)=632026.04 | 56.68 | — | — | — | — | — | — | — | — | |
| EnsembleBackbone=YOLOv9c, Pre-training=pre-trained on COCO, Num. params (M)=50.6, Inf. time (ms)=982026.04 | 56.5 | — | — | — | — | — | — | — | — | |
| MoEBackbone=YOLOv9c, Pre-training=trained from scratch, Num. params (M)=50.6, Inf. time (ms)=932026.04 | 56.24 | — | — | — | — | — | — | — | — | |
| Daytime expertBackbone=YOLOv9c, Pre-training=trained from scratch, Num. params (M)=25.3, Inf. time (ms)=632026.04 | 56.03 | — | — | — | — | — | — | — | — | |
| EnsembleBackbone=YOLOv9c, Pre-training=trained from scratch, Num. params (M)=50.6, Inf. time (ms)=982026.04 | 55.61 | — | — | — | — | — | — | — | — | |
| BaselineBackbone=YOLOv9-S, Pre-training=pre-trained on COCO, Num. params (M)=7.1, Inf. time (ms)=542026.04 | 51.43 | — | — | — | — | — | — | — | — | |
| MoEBackbone=YOLOv9-S, Pre-training=pre-trained on COCO, Num. params (M)=14.2, Inf. time (ms)=762026.04 | 51.31 | — | — | — | — | — | — | — | — | |
| Nighttime expertBackbone=YOLOv7x, Pre-training=pre-trained on COCO, Num. params (M)=71.3, Inf. time (ms)=822026.04 | 51.26 | — | — | — | — | — | — | — | — | |
| Daytime expertBackbone=YOLOv9-S, Pre-training=pre-trained on COCO, Num. params (M)=7.1, Inf. time (ms)=542026.04 | 51.15 | — | — | — | — | — | — | — | — | |
| Nighttime expertBackbone=YOLOv9-E, Pre-training=pre-trained on COCO, Num. params (M)=57.3, Inf. time (ms)=692026.04 | 50.28 | — | — | — | — | — | — | — | — | |
| EnsembleBackbone=YOLOv9-S, Pre-training=pre-trained on COCO, Num. params (M)=14.2, Inf. time (ms)=732026.04 | 50.14 | — | — | — | — | — | — | — | — | |
| OracleBackbone=VGG16, Detector=Faster-RCNN, Source Dataset=BDD100k, Resolution (Shortest side)=600px, IoU threshold=0.52022.08 | 50.1 | 52.7 | 42.8 | 73 | 53.8 | 52.5 | — | 36.4 | 39.5 | |
| Nighttime expertBackbone=YOLOv7, Pre-training=pre-trained on COCO, Num. params (M)=63.9, Inf. time (ms)=732026.04 | 49.16 | — | — | — | — | — | — | — | — | |
| Nighttime expertBackbone=YOLOv7x, Pre-training=trained from scratch, Num. params (M)=71.3, Inf. time (ms)=832026.04 | 48.34 | — | — | — | — | — | — | — | — | |
| Nighttime expertBackbone=YOLOv9c, Pre-training=pre-trained on COCO, Num. params (M)=25.3, Inf. time (ms)=632026.04 | 47.22 | — | — | — | — | — | — | — | — | |
| MoEBackbone=YOLOv7-tiny, Pre-training=trained from scratch, Num. params (M)=12.4, Inf. time (ms)=822026.04 | 46.54 | — | — | — | — | — | — | — | — | |
| Daytime expertBackbone=YOLOv7-tiny, Pre-training=trained from scratch, Num. params (M)=6.2, Inf. time (ms)=822026.04 | 46.53 | — | — | — | — | — | — | — | — | |
| BaselineBackbone=YOLOv7-tiny, Pre-training=trained from scratch, Num. params (M)=6.2, Inf. time (ms)=822026.04 | 46.39 | — | — | — | — | — | — | — | — | |
| EnsembleBackbone=YOLOv7-tiny, Pre-training=trained from scratch, Num. params (M)=12.4, Inf. time (ms)=1862026.04 | 45.97 | — | — | — | — | — | — | — | — | |
| Nighttime expertBackbone=YOLOv9c, Pre-training=trained from scratch, Num. params (M)=25.3, Inf. time (ms)=632026.04 | 44.99 | — | — | — | — | — | — | — | — | |
| Nighttime expertBackbone=YOLOv9-S, Pre-training=pre-trained on COCO, Num. params (M)=7.1, Inf. time (ms)=542026.04 | 38.76 | — | — | — | — | — | — | — | — | |
| Nighttime expertBackbone=YOLOv7-tiny, Pre-training=trained from scratch, Num. params (M)=6.2, Inf. time (ms)=822026.04 | 32.62 | — | — | — | — | — | — | — | — | |
| AWADABackbone=VGG16, Detector=Faster-RCNN, Source Dataset=Cityscapes, Resolution (Shortest side)=600px, IoU threshold=0.52022.08 | 31.5 | 41.5 | 34.2 | 56 | 18.7 | 20 | — | 20.4 | 29.7 | |
| CyCADA*Backbone=VGG16, Detector=Faster-RCNN, Source Dataset=Cityscapes, Resolution (Shortest side)=600px, IoU threshold=0.52022.08 | 29.8 | 40.4 | 33.1 | 55.8 | 15 | 18.1 | — | 17.4 | 29.2 | |
| ILLUMEBackbone=VGG16, Detector=Faster-RCNN, Source Dataset=Cityscapes, Resolution (Shortest side)=600px, IoU threshold=0.52022.08 | 29.6 | 33.2 | 20.5 | 47.8 | 20.8 | 33.8 | — | 24.4 | 26.7 | |
| PDABackbone=VGG16, Detector=Faster-RCNN, Source Dataset=Cityscapes, Resolution (Shortest side)=600px, IoU threshold=0.52022.08 | 29.5 | 37.6 | 32.9 | 51.8 | 19.3 | 23.7 | — | 16.1 | 25.3 | |
| AFLBackbone=VGG16, Detector=Faster-RCNN, Source Dataset=Cityscapes, Resolution (Shortest side)=600px, IoU threshold=0.52022.08 | 29 | 32.4 | 32.6 | 50.4 | 20.6 | 23.4 | — | 18.9 | 25 | |
| BaselineBackbone=VGG16, Detector=Faster-RCNN, Source Dataset=Cityscapes, Resolution (Shortest side)=600px, IoU threshold=0.52022.08 | 24.8 | 34.2 | 24.2 | 53.7 | 15 | 14.3 | — | 12.3 | 19.5 |