Object Detection on Cityscapes → BDD100k (test)
46.5mAP (Overall)RT-SFOD
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| RT-SFODCategory=SFOD, Base=YOLOv10L2026.06 | 46.5 | 58 | 49.3 | 77 | 36.4 | 39.6 | 34.1 | 31.4 | |
| FACT+SNFtraining_domain=Cityscapes (C), category=car, module=SNF2026.01 | 45.3 | — | — | — | — | — | — | — | |
| FSDR+SNFtraining_domain=Cityscapes (C), category=car, module=SNF2026.01 | 45.2 | — | — | — | — | — | — | — | |
| FSDRtraining_domain=Cityscapes (C), category=car2026.01 | 45 | — | — | — | — | — | — | — | |
| RT-SFODCategory=SFOD, Base=YOLOv10M2026.06 | 44.5 | 57.5 | 47.3 | 75.9 | 33.7 | 35.8 | 33 | 28.6 | |
| DATRCategory=UDA, Base=Def-DETR2026.06 | 43.3 | 58.5 | 42.8 | 73.4 | 26.9 | 39.9 | 24.2 | 37.3 | |
| VFM-SFODCategory=SFOD, Base=Def-DETR2026.06 | 43 | 54.9 | 44.2 | 72.3 | 33.2 | 34.8 | 32.9 | 29 | |
| GB-DAL+SNFtraining_domain=Cityscapes (C), category=car, module=SNF2026.01 | 42.4 | — | — | — | — | — | — | — | |
| FACTtraining_domain=Cityscapes (C), category=car2026.01 | 42 | — | — | — | — | — | — | — | |
| ERMtraining_domain=Cityscapes (C), category=car2026.01 | 41.3 | — | — | — | — | — | — | — | |
| RT-SFODCategory=SFOD, Base=YOLOv10S2026.06 | 41.1 | 53.8 | 44.8 | 71.6 | 28.8 | 33.6 | 28.7 | 26.5 | |
| FRANCKCategory=SFOD, Base=Def-DETR2026.06 | 40.7 | 55 | 43.3 | 65.6 | 29.5 | 33.6 | 30 | 28 | |
| MTMCategory=UDAOD2025.12 | 37.3 | 23 | 68.8 | 35.1 | 53.7 | 28 | 28.8 | 23.8 | |
| FALCON-SFODCategory=SFOD2025.12 | 36.9 | 40 | 34 | 59.8 | 32.6 | 30.5 | 25.7 | 35.7 | |
| FALCON-SFODCategory=SFOD, Base=FRCNN2026.06 | 36.9 | 40 | 34 | 59.8 | 32.6 | 30.5 | 25.7 | 35.7 | |
| DRUCategory=SFOD2025.12 | 36.6 | 45.8 | 36.9 | 62.7 | 27.1 | 28.1 | 22.7 | 32.5 | |
| DRUCategory=SFOD, Base=Def-DETR2026.06 | 36.6 | 45.8 | 36.9 | 62.7 | 27.1 | 28.1 | 22.7 | 32.5 | |
| Source onlyCategory=S, Base=YOLOv10L2026.06 | 34.7 | 49.2 | 35.4 | 68.3 | 23.1 | 25.3 | 17.8 | 24 | |
| Simple-SFODCategory=SFOD2025.12 | 34.3 | 40.2 | 33.4 | 60 | 32 | 24.9 | 19.7 | 29.9 | |
| Simple-SFODCategory=SFOD, Base=FRCNN2026.06 | 34.3 | 40.2 | 33.4 | 60 | 32 | 24.9 | 19.7 | 29.9 | |
| MRTCategory=UDA, Base=Def-DETR2026.06 | 33.7 | 48.4 | 30.9 | 63.7 | 24.7 | 25.5 | 20.2 | 22.6 | |
| IRGCategory=SFOD2025.12 | 32.7 | 39.9 | 32.8 | 59.7 | 31.4 | 21.5 | 16.7 | 26.9 | |
| IRGCategory=SFOD, Base=FRCNN2026.06 | 32.7 | 39.9 | 32.8 | 59.7 | 31.4 | 21.5 | 16.7 | 26.9 | |
| A²SFODCategory=SFOD2025.12 | 31.6 | 33.2 | 36.3 | 50.2 | 26.6 | 24.4 | 22.5 | 28.2 | |
| PETSCategory=SFOD2025.12 | 31.3 | 42.6 | 34.5 | 62.4 | 19.3 | 16.9 | 17 | 26.3 | |
| PETSCategory=SFOD, Base=FRCNN2026.06 | 31.3 | 42.6 | 34.5 | 62.4 | 19.3 | 16.9 | 17 | 26.3 | |
| SFOD+HCLSource-data free=true2021.10 | 31.1 | 33.9 | 34.4 | 52.8 | 22.1 | 25.3 | 22.6 | 26.7 | |
| Source onlyCategory=S, Base=YOLOv10M2026.06 | 31 | 44.5 | 32 | 61.8 | 18.8 | 21.5 | 15.8 | 22.6 | |
| HCLSource-data free=true2021.10 | 30.3 | 32.7 | 33.2 | 52 | 21.3 | 25.6 | 21.5 | 26 | |
| SFODSource-data free=true2021.10 | 29 | 32.4 | 32.6 | 50.4 | 20.6 | 23.4 | 18.9 | 25 | |
| SFOD-MosaicCategory=SFOD2025.12 | 29 | 32.4 | 32.6 | 50.4 | 20.6 | 23.4 | 18.9 | 25 | |
| Source onlyCategory=S, Base=YOLOv10S2026.06 | 28.9 | 42.4 | 29.1 | 59.6 | 17.5 | 20 | 14.6 | 19.3 | |
| SFODCategory=SFOD2025.12 | 27.6 | 31 | 32.4 | 48.8 | 20.4 | 21.3 | 15 | 24.3 | |
| CRDASource-data free=false2021.10 | 26.9 | 31.4 | 31.3 | 46.3 | 19.5 | 18.9 | 17.3 | 23.8 | |
| CR-DA-DetCategory=UDAOD2025.12 | 26.9 | 31.4 | 31.3 | 46.3 | 19.5 | 18.9 | 17.3 | 23.8 | |
| SRCD2023.07 | 25.9 | 25.7 | 28.4 | 38.7 | 23.1 | 21.5 | 19 | 24.8 | |
| SWDASource-data free=false2021.10 | 25.3 | 30.2 | 29.5 | 45.7 | 15.2 | 18.4 | 17.1 | 21.2 | |
| SWDACategory=UDAOD2025.12 | 25.3 | 30.2 | 29.5 | 45.7 | 15.2 | 18.4 | 17.1 | 21.2 | |
| Faster-RCNN2023.07 | 24.5 | 24.1 | 25.4 | 36.9 | 22.6 | 21.9 | 17.8 | 22.7 | |
| SW2023.07 | 24.1 | 23.1 | 25.6 | 36.7 | 20.9 | 21.3 | 18.8 | 22.2 | |
| DASource-data free=false2021.10 | 24 | 29.4 | 26.5 | 44.6 | 14.3 | 16.8 | 15.8 | 20.6 | |
| SHADE2023.07 | 24 | 24.1 | 24.9 | 36.8 | 19.8 | 19 | 18.4 | 25.1 | |
| IterNorm2023.07 | 23.7 | 20.6 | 23.4 | 36.2 | 20.9 | 21.2 | 18 | 21.6 | |
| ISW2023.07 | 22.5 | 22.4 | 22.7 | 35.2 | 17.8 | 20.9 | 16.6 | 21.6 | |
| CDSD2023.07 | 21.7 | 18.5 | 23.6 | 33.8 | 18.2 | 20.5 | 14.7 | 22.9 | |
| IBN-Net2023.07 | 19.1 | 19.3 | 21.4 | 31.9 | 13.7 | 14.9 | 13.4 | 19.2 | |
| Source OnlyCategory=S2025.12 | 19.1 | 28.7 | 17.8 | 51.5 | 9.9 | 7.6 | 7.5 | 10.8 |