Object Detection on Cityscapes → BDD100k (test) benchmark leaderboard · SOTA2 Research

Object Detection on Cityscapes → BDD100k (test)

46.5mAP (Overall)RT-SFOD

Evaluation Results

Method	Links
RT-SFOD2026.06		46.5	58	49.3	77	36.4	39.6	34.1	31.4
FACT+SNF2026.01		45.3	—	—	—	—	—	—	—
FSDR+SNF2026.01		45.2	—	—	—	—	—	—	—
FSDR2026.01		45	—	—	—	—	—	—	—
RT-SFOD2026.06		44.5	57.5	47.3	75.9	33.7	35.8	33	28.6
DATR2026.06		43.3	58.5	42.8	73.4	26.9	39.9	24.2	37.3
VFM-SFOD2026.06		43	54.9	44.2	72.3	33.2	34.8	32.9	29
GB-DAL+SNF2026.01		42.4	—	—	—	—	—	—	—
FACT2026.01		42	—	—	—	—	—	—	—
ERM2026.01		41.3	—	—	—	—	—	—	—
RT-SFOD2026.06		41.1	53.8	44.8	71.6	28.8	33.6	28.7	26.5
FRANCK2026.06		40.7	55	43.3	65.6	29.5	33.6	30	28
MTM2025.12		37.3	23	68.8	35.1	53.7	28	28.8	23.8
FALCON-SFOD2025.12		36.9	40	34	59.8	32.6	30.5	25.7	35.7
FALCON-SFOD2026.06		36.9	40	34	59.8	32.6	30.5	25.7	35.7
DRU2025.12		36.6	45.8	36.9	62.7	27.1	28.1	22.7	32.5
DRU2026.06		36.6	45.8	36.9	62.7	27.1	28.1	22.7	32.5
Source only2026.06		34.7	49.2	35.4	68.3	23.1	25.3	17.8	24
Simple-SFOD2025.12		34.3	40.2	33.4	60	32	24.9	19.7	29.9
Simple-SFOD2026.06		34.3	40.2	33.4	60	32	24.9	19.7	29.9
MRT2026.06		33.7	48.4	30.9	63.7	24.7	25.5	20.2	22.6
IRG2025.12		32.7	39.9	32.8	59.7	31.4	21.5	16.7	26.9
IRG2026.06		32.7	39.9	32.8	59.7	31.4	21.5	16.7	26.9
A²SFOD2025.12		31.6	33.2	36.3	50.2	26.6	24.4	22.5	28.2
PETS2025.12		31.3	42.6	34.5	62.4	19.3	16.9	17	26.3
PETS2026.06		31.3	42.6	34.5	62.4	19.3	16.9	17	26.3
SFOD+HCL2021.10		31.1	33.9	34.4	52.8	22.1	25.3	22.6	26.7
Source only2026.06		31	44.5	32	61.8	18.8	21.5	15.8	22.6
HCL2021.10		30.3	32.7	33.2	52	21.3	25.6	21.5	26
SFOD2021.10		29	32.4	32.6	50.4	20.6	23.4	18.9	25
SFOD-Mosaic2025.12		29	32.4	32.6	50.4	20.6	23.4	18.9	25
Source only2026.06		28.9	42.4	29.1	59.6	17.5	20	14.6	19.3
SFOD2025.12		27.6	31	32.4	48.8	20.4	21.3	15	24.3
CRDA2021.10		26.9	31.4	31.3	46.3	19.5	18.9	17.3	23.8
CR-DA-Det2025.12		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
SWDA2021.10		25.3	30.2	29.5	45.7	15.2	18.4	17.1	21.2
SWDA2025.12		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
DA2021.10		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 Only2025.12		19.1	28.7	17.8	51.5	9.9	7.6	7.5	10.8