Object Detection on BDD100K (Nighttime)
57.08APBaseline
Evaluation results
| Method | Links | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| BaselineBackbone=YOLOv7x, Pre-training=pre-trained on COCO, Num. params (M)=71.3, Inf. time (ms)=822026.04 | 57.08 | — | — | — | — | — | — | — | — | — | |
| BaselineBackbone=YOLOv7, Pre-training=pre-trained on COCO, Num. params (M)=63.9, Inf. time (ms)=732026.04 | 56.51 | — | — | — | — | — | — | — | — | — | |
| BaselineBackbone=YOLOv7x, Pre-training=trained from scratch, Num. params (M)=71.3, Inf. time (ms)=832026.04 | 56.06 | — | — | — | — | — | — | — | — | — | |
| BaselineBackbone=YOLOv9-E, Pre-training=pre-trained on COCO, Num. params (M)=57.3, Inf. time (ms)=692026.04 | 56.02 | — | — | — | — | — | — | — | — | — | |
| MoEBackbone=YOLOv9-E, Pre-training=pre-trained on COCO, Num. params (M)=114.6, Inf. time (ms)=1072026.04 | 55.36 | — | — | — | — | — | — | — | — | — | |
| MoEBackbone=YOLOv7x, Pre-training=pre-trained on COCO, Num. params (M)=142.6, Inf. time (ms)=972026.04 | 55.04 | — | — | — | — | — | — | — | — | — | |
| Nighttime expertBackbone=YOLOv7x, Pre-training=pre-trained on COCO, Num. params (M)=71.3, Inf. time (ms)=822026.04 | 54.79 | — | — | — | — | — | — | — | — | — | |
| MoEBackbone=YOLOv7, Pre-training=pre-trained on COCO, Num. params (M)=127.8, Inf. time (ms)=802026.04 | 54.75 | — | — | — | — | — | — | — | — | — | |
| EnsembleBackbone=YOLOv9-E, Pre-training=pre-trained on COCO, Num. params (M)=114.6, Inf. time (ms)=1072026.04 | 54.49 | — | — | — | — | — | — | — | — | — | |
| Nighttime expertBackbone=YOLOv7, Pre-training=pre-trained on COCO, Num. params (M)=63.9, Inf. time (ms)=732026.04 | 54.42 | — | — | — | — | — | — | — | — | — | |
| Ensemble NMWBackbone=YOLOv7, Pre-training=pre-trained on COCO, Num. params (M)=127.8, Inf. time (ms)=1572026.04 | 54.38 | — | — | — | — | — | — | — | — | — | |
| BaselineBackbone=YOLOv9c, Pre-training=pre-trained on COCO, Num. params (M)=25.3, Inf. time (ms)=632026.04 | 54.38 | — | — | — | — | — | — | — | — | — | |
| EnsembleBackbone=YOLOv7x, Pre-training=pre-trained on COCO, Num. params (M)=142.6, Inf. time (ms)=1702026.04 | 54.26 | — | — | — | — | — | — | — | — | — | |
| MoEBackbone=YOLOv7x, Pre-training=trained from scratch, Num. params (M)=142.6, Inf. time (ms)=962026.04 | 53.86 | — | — | — | — | — | — | — | — | — | |
| BaselineBackbone=YOLOv9c, Pre-training=trained from scratch, Num. params (M)=25.3, Inf. time (ms)=632026.04 | 53.49 | — | — | — | — | — | — | — | — | — | |
| EnsembleBackbone=YOLOv7x, Pre-training=trained from scratch, Num. params (M)=142.6, Inf. time (ms)=1782026.04 | 53.45 | — | — | — | — | — | — | — | — | — | |
| Nighttime expertBackbone=YOLOv9-E, Pre-training=pre-trained on COCO, Num. params (M)=57.3, Inf. time (ms)=692026.04 | 53.35 | — | — | — | — | — | — | — | — | — | |
| Nighttime expertBackbone=YOLOv7x, Pre-training=trained from scratch, Num. params (M)=71.3, Inf. time (ms)=832026.04 | 53.34 | — | — | — | — | — | — | — | — | — | |
| MoEBackbone=YOLOv9c, Pre-training=pre-trained on COCO, Num. params (M)=50.6, Inf. time (ms)=942026.04 | 53.17 | — | — | — | — | — | — | — | — | — | |
| EnsembleBackbone=YOLOv9c, Pre-training=pre-trained on COCO, Num. params (M)=50.6, Inf. time (ms)=982026.04 | 52.66 | — | — | — | — | — | — | — | — | — | |
| Nighttime expertBackbone=YOLOv9c, Pre-training=pre-trained on COCO, Num. params (M)=25.3, Inf. time (ms)=632026.04 | 52.07 | — | — | — | — | — | — | — | — | — | |
| MoEBackbone=YOLOv9c, Pre-training=trained from scratch, Num. params (M)=50.6, Inf. time (ms)=932026.04 | 51.25 | — | — | — | — | — | — | — | — | — | |
| Daytime expertBackbone=YOLOv9-E, Pre-training=pre-trained on COCO, Num. params (M)=57.3, Inf. time (ms)=692026.04 | 51.23 | — | — | — | — | — | — | — | — | — | |
| EnsembleBackbone=YOLOv9c, Pre-training=trained from scratch, Num. params (M)=50.6, Inf. time (ms)=982026.04 | 50.95 | — | — | — | — | — | — | — | — | — | |
| Nighttime expertBackbone=YOLOv9c, Pre-training=trained from scratch, Num. params (M)=25.3, Inf. time (ms)=632026.04 | 50.52 | — | — | — | — | — | — | — | — | — | |
| Daytime expertBackbone=YOLOv7x, Pre-training=pre-trained on COCO, Num. params (M)=71.3, Inf. time (ms)=822026.04 | 50.4 | — | — | — | — | — | — | — | — | — | |
| BaselineBackbone=YOLOv9-S, Pre-training=pre-trained on COCO, Num. params (M)=7.1, Inf. time (ms)=542026.04 | 50.26 | — | — | — | — | — | — | — | — | — | |
| Daytime expertBackbone=YOLOv9c, Pre-training=pre-trained on COCO, Num. params (M)=25.3, Inf. time (ms)=632026.04 | 49.7 | — | — | — | — | — | — | — | — | — | |
| PAGenAlignment=false, Self-training=false2025.11 | 49.5 | 61 | 39.7 | 75.3 | 49.7 | 48.9 | 45.3 | 48.4 | 57 | 70.1 | |
| Daytime expertBackbone=YOLOv7, Pre-training=pre-trained on COCO, Num. params (M)=63.9, Inf. time (ms)=732026.04 | 49.46 | — | — | — | — | — | — | — | — | — | |
| Daytime expertBackbone=YOLOv7x, Pre-training=trained from scratch, Num. params (M)=71.3, Inf. time (ms)=832026.04 | 49.28 | — | — | — | — | — | — | — | — | — | |
| MoEBackbone=YOLOv9-S, Pre-training=pre-trained on COCO, Num. params (M)=14.2, Inf. time (ms)=762026.04 | 47.2 | — | — | — | — | — | — | — | — | — | |
| 2PCNetBackbone=ResNet-50, Detector=Faster-RCNN2023.03 | 46.4 | 54.4 | 30.8 | 73.1 | 53.8 | 55.2 | 37.5 | 44.5 | 49.4 | 65.2 | |
| 2PCNetAlignment=false, Self-training=true2025.11 | 46.4 | 54.4 | 30.8 | 73.1 | 53.8 | 55.2 | 37.5 | 44.5 | 49.4 | 65.2 | |
| Nighttime expertBackbone=YOLOv9-S, Pre-training=pre-trained on COCO, Num. params (M)=7.1, Inf. time (ms)=542026.04 | 46.28 | — | — | — | — | — | — | — | — | — | |
| Upper-BoundBackbone=ResNet-50, Detector=Faster-RCNN, Mode=Fully Supervised (Nighttime data)2023.03 | 46.2 | 52.1 | 35 | 73.6 | 53.5 | 54.8 | 36 | 41.8 | 52.2 | 63.3 | |
| EnsembleBackbone=YOLOv9-S, Pre-training=pre-trained on COCO, Num. params (M)=14.2, Inf. time (ms)=732026.04 | 45.91 | — | — | — | — | — | — | — | — | — | |
| BaselineBackbone=YOLOv7-tiny, Pre-training=trained from scratch, Num. params (M)=6.2, Inf. time (ms)=822026.04 | 45.8 | — | — | — | — | — | — | — | — | — | |
| Daytime expertBackbone=YOLOv9c, Pre-training=trained from scratch, Num. params (M)=25.3, Inf. time (ms)=632026.04 | 45.74 | — | — | — | — | — | — | — | — | — | |
| MoEBackbone=YOLOv7-tiny, Pre-training=trained from scratch, Num. params (M)=12.4, Inf. time (ms)=822026.04 | 43.82 | — | — | — | — | — | — | — | — | — | |
| Nighttime expertBackbone=YOLOv7-tiny, Pre-training=trained from scratch, Num. params (M)=6.2, Inf. time (ms)=822026.04 | 43.2 | — | — | — | — | — | — | — | — | — | |
| EnsembleBackbone=YOLOv7-tiny, Pre-training=trained from scratch, Num. params (M)=12.4, Inf. time (ms)=1862026.04 | 42.67 | — | — | — | — | — | — | — | — | — | |
| DA F-RCNNBackbone=ResNet-50, Detector=Faster-RCNN2023.03 | 41.3 | 50.4 | 30.3 | 66.3 | 46.8 | 48.3 | 32.6 | 41.4 | 41 | 56.2 | |
| DA-FasterAlignment=true, Self-training=false2025.11 | 41.3 | 50.4 | 30.3 | 66.3 | 46.8 | 48.3 | 32.6 | 41.4 | 41 | 56.2 | |
| Lower-BoundBackbone=ResNet-50, Detector=Faster-RCNN, Domain Adaptation=None (Source only)2023.03 | 41.1 | 50 | 28.9 | 66.6 | 47.8 | 47.5 | 32.8 | 39.5 | 41 | 56.5 | |
| Daytime expertBackbone=YOLOv9-S, Pre-training=pre-trained on COCO, Num. params (M)=7.1, Inf. time (ms)=542026.04 | 40 | — | — | — | — | — | — | — | — | — | |
| ATBackbone=ResNet-50, Detector=Faster-RCNN2023.03 | 38.5 | 42.3 | 30.4 | 60.8 | 48.9 | 52.1 | 34.5 | 42.7 | 29.1 | 43.9 | |
| ATAlignment=true, Self-training=true2025.11 | 38.5 | 42.3 | 30.4 | 60.8 | 48.9 | 52.1 | 34.5 | 42.7 | 29.1 | 43.9 | |
| UMTBackbone=ResNet-50, Detector=Faster-RCNN2023.03 | 36.2 | 46.5 | 26.1 | 46.8 | 44 | 46.3 | 28.2 | 40.2 | 31.6 | 52.7 | |
| UMTAlignment=false, Self-training=true2025.11 | 36.2 | 46.5 | 26.1 | 46.8 | 44 | 46.3 | 28.2 | 40.2 | 31.6 | 52.7 | |
| Daytime expertBackbone=YOLOv7-tiny, Pre-training=trained from scratch, Num. params (M)=6.2, Inf. time (ms)=822026.04 | 34.92 | — | — | — | — | — | — | — | — | — | |
| TDDBackbone=ResNet-50, Detector=Faster-RCNN2023.03 | 34.6 | 43.1 | 20.7 | 68.4 | 33.3 | 35.6 | 16.5 | 25.9 | 43.1 | 59.5 | |
| TDDAlignment=false, Self-training=true2025.11 | 34.6 | 43.1 | 20.7 | 68.4 | 33.3 | 35.6 | 16.5 | 25.9 | 43.1 | 59.5 | |
| Upper BoundBackbone=ResNet-50, Detector=Faster R-CNN, Input Resolution=512x512, Training Data=Real Nighttime images2026.02 | 17.86 | 14.43 | 10.25 | 32.59 | 23.83 | 26.5 | 8.43 | 8.96 | 11.93 | 23.83 | |
| Hallucination-Suppression Translation FrameworkBackbone=ResNet-50, Detector=Faster R-CNN, Input Resolution=512x5122026.02 | 17.4 | 15.35 | 10.92 | 30.01 | 23.48 | 26.02 | 8.44 | 11.74 | 8.55 | 22.01 | |
| MGUITBackbone=ResNet-50, Detector=Faster R-CNN, Input Resolution=512x5122026.02 | 15.08 | 14.52 | 8.79 | 27.48 | 19.08 | 23.41 | 6.53 | 10.93 | 6.18 | 18.83 | |
| InstaFormerBackbone=ResNet-50, Detector=Faster R-CNN, Input Resolution=512x5122026.02 | 14.93 | 14.04 | 8.58 | 27.25 | 19.48 | 21.67 | 7.83 | 10.98 | 6.33 | 18.19 | |
| DUNITBackbone=ResNet-50, Detector=Faster R-CNN, Input Resolution=512x5122026.02 | 14.87 | 14.49 | 9.05 | 28.03 | 19.47 | 23.38 | 6.38 | 10.15 | 4.43 | 18.42 | |
| UNSBBackbone=ResNet-50, Detector=Faster R-CNN, Input Resolution=512x5122026.02 | 14.27 | 14.65 | 8.95 | 28.35 | 17.14 | 22.83 | 6.02 | 9.68 | 5.93 | 14.88 | |
| CUTBackbone=ResNet-50, Detector=Faster R-CNN, Input Resolution=512x5122026.02 | 14.1 | 14.13 | 8.27 | 28.31 | 16.21 | 20.22 | 5.29 | 9.96 | 5.36 | 19.19 | |
| Lower BoundBackbone=ResNet-50, Detector=Faster R-CNN, Input Resolution=512x512, Training Data=Real Daytime images2026.02 | 13.75 | 12.99 | 8.71 | 25.21 | 15.73 | 18.93 | 6.88 | 8.45 | 8.28 | 18.55 | |
| Cycle-DiffusionBackbone=ResNet-50, Detector=Faster R-CNN, Input Resolution=512x5122026.02 | 13.62 | 13.54 | 8.31 | 26.49 | 17.02 | 20.32 | 6.22 | 10.11 | 4.91 | 17.88 | |
| CycleGANBackbone=ResNet-50, Detector=Faster R-CNN, Input Resolution=512x5122026.02 | 13.16 | 12.52 | 7.46 | 26.08 | 16.01 | 17.36 | 5.7 | 9.46 | 4.6 | 19.29 | |
| DRITBackbone=ResNet-50, Detector=Faster R-CNN, Input Resolution=512x5122026.02 | 12.68 | 11.84 | 8.24 | 25.16 | 15.46 | 14.89 | 3.84 | 9.05 | 6.49 | 19.18 | |
| InstructPix2PixBackbone=ResNet-50, Detector=Faster R-CNN, Input Resolution=512x5122026.02 | 10.84 | 11.89 | 6.82 | 21.76 | 13.71 | 15.33 | 4.97 | 8.56 | 3.45 | 12.07 | |
| DDIBBackbone=ResNet-50, Detector=Faster R-CNN, Input Resolution=512x5122026.02 | 10.67 | 10.75 | 6.66 | 20.4 | 13.42 | 15.83 | 4.82 | 7.87 | 3.8 | 12.49 |