Object Detection on Cityscapes to Foggy Cityscapes (test)
55.9mAPDA-Pro
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| DA-ProPrompt=domain-adaptive2023.06 | 55.9 | 55.4 | 62.9 | 70.9 | 40.3 | 63.4 | 54 | 42.3 | 58 | |
| DTDetector=Faster R-CNN, Adaptation Paradigm=UDAOD2026.01 | 55.4 | 48.5 | 60 | 65.4 | 47.2 | 66.5 | 52.9 | 46.2 | 56.7 | |
| BaselinePrompt=hand-crafted2023.06 | 52.6 | 51.8 | 59 | 67.4 | 36.8 | 59.5 | 50.6 | 39.7 | 55.9 | |
| AT2023.06 | 50.9 | 56.3 | 51.9 | 64.2 | 38.5 | 45.5 | 55.1 | 54.3 | 35 | |
| ATSetting=UDAOD, Backbone=VGG16-BN2024.07 | 50.9 | 56.3 | 51.9 | 64.2 | 38.5 | 45.5 | 55.1 | 54.3 | 35 | |
| ATDetector=Faster R-CNN, Adaptation Paradigm=UDAOD2026.01 | 50.9 | 45.5 | 55.1 | 64.2 | 35 | 56.3 | 54.3 | 38.5 | 51.9 | |
| HTDetector=FCOS-V162025.06 | 50.4 | 52.1 | 55.8 | 67.5 | 32.7 | 55.9 | 49.1 | 40.1 | 50.3 | |
| CMTDetector=FRCNN-V162025.06 | 50.3 | 45.9 | 55.7 | 63.7 | 39.6 | 66 | 38.8 | 41.4 | 51.2 | |
| DDTDetector=FRCNN-R1012025.06 | 50 | 50.9 | 60 | 64.2 | 33.6 | 53.5 | 42.4 | 43.5 | 52.2 | |
| DDTDetector=FRCNN-R502025.06 | 49.6 | 50.3 | 59.3 | 63.8 | 33.1 | 53.2 | 41.7 | 44.1 | 51.5 | |
| TSDAOD Framework=CMT, Base Detector=Faster R-CNN2024.12 | 49.36 | — | — | — | — | — | — | — | — | |
| OracleDAOD Framework=CMT, Base Detector=Faster R-CNN2024.12 | 49.36 | — | — | — | — | — | — | — | — | |
| DASDAOD Framework=AT, Base Detector=Faster R-CNN2024.12 | 49.26 | — | — | — | — | — | — | — | — | |
| OracleDAOD Framework=AT, Base Detector=Faster R-CNN2024.12 | 49.26 | — | — | — | — | — | — | — | — | |
| TTD+FPN+Paradigm=Domain Adaptation (DA)2023.09 | 49.2 | 50.7 | 53.7 | 68.2 | 35.1 | 53 | 45.1 | 38.9 | 49.1 | |
| TDDDetector=FRCNN-V162025.06 | 49.2 | 50.7 | 53.7 | 68.2 | 35.1 | 53 | 45.1 | 38.9 | 49.1 | |
| DASDAOD Framework=CMT, Base Detector=Faster R-CNN2024.12 | 49.15 | — | — | — | — | — | — | — | — | |
| CDDMSLParadigm=Domain Generalization (DG)2023.09 | 49.1 | 50.5 | 55.1 | 66.9 | 35 | 56.2 | 33.5 | 41 | 54.3 | |
| ESDAOD Framework=CMT, Base Detector=Faster R-CNN2024.12 | 48.86 | — | — | — | — | — | — | — | — | |
| OracleDetector=Deformable DETR, Adaptation Paradigm=Target-trained2026.01 | 48.7 | 52.9 | 52.9 | 71.8 | 31.3 | 53.9 | 41 | 41.4 | 44 | |
| FDDAOD Framework=AT, Base Detector=Faster R-CNN2024.12 | 48.69 | — | — | — | — | — | — | — | — | |
| TSDAOD Framework=AT, Base Detector=Faster R-CNN2024.12 | 48.69 | — | — | — | — | — | — | — | — | |
| OracleBackbone=VGG162024.07 | 48.5 | 51.3 | 57.5 | 70.2 | 30.9 | 60.5 | 26.9 | 40 | 50.4 | |
| GB-DAL+SNFtraining_domain=Cityscapes (C), category=car, module=SNF2026.01 | 48.5 | — | — | — | — | — | — | — | — | |
| Last Ckpt.DAOD Framework=CMT, Base Detector=Faster R-CNN2024.12 | 48.46 | — | — | — | — | — | — | — | — | |
| PSDAOD Framework=CMT, Base Detector=Faster R-CNN2024.12 | 48.46 | — | — | — | — | — | — | — | — | |
| ATC (th=.3)DAOD Framework=CMT, Base Detector=Faster R-CNN2024.12 | 48.46 | — | — | — | — | — | — | — | — | |
| ATC (th=.4)DAOD Framework=CMT, Base Detector=Faster R-CNN2024.12 | 48.46 | — | — | — | — | — | — | — | — | |
| ATC (th=.95)DAOD Framework=CMT, Base Detector=Faster R-CNN2024.12 | 48.46 | — | — | — | — | — | — | — | — | |
| PSDAOD Framework=AT, Base Detector=Faster R-CNN2024.12 | 48.23 | — | — | — | — | — | — | — | — | |
| ATC (th=.3)DAOD Framework=AT, Base Detector=Faster R-CNN2024.12 | 48.23 | — | — | — | — | — | — | — | — | |
| ATC (th=.4)DAOD Framework=AT, Base Detector=Faster R-CNN2024.12 | 48.23 | — | — | — | — | — | — | — | — | |
| ATC (th=.95)DAOD Framework=AT, Base Detector=Faster R-CNN2024.12 | 48.23 | — | — | — | — | — | — | — | — | |
| Last Ckpt.DAOD Framework=AT, Base Detector=Faster R-CNN2024.12 | 48.16 | — | — | — | — | — | — | — | — | |
| DSODDetector=Deformable DETR, Adaptation Paradigm=SFOD2026.01 | 48.1 | 48.5 | 48.1 | 64.6 | 35.8 | 51.1 | 38 | 36.6 | 48.3 | |
| ESDAOD Framework=AT, Base Detector=Faster R-CNN2024.12 | 47.98 | — | — | — | — | — | — | — | — | |
| DSS+Paradigm=Domain Adaptation (DA)2023.09 | 47.8 | 50.9 | 57.6 | 61.1 | 35.4 | 50.9 | 36.6 | 38.4 | 51.1 | |
| MIC (SADA)baseline=SADA2022.12 | 47.6 | 50.9 | 55.3 | 67 | 33.9 | 52.4 | 33.7 | 40.6 | 47.5 | |
| MICDetector=FRCNN-R1012025.06 | 47.6 | 50.9 | 55.3 | 67 | 33.9 | 52.4 | 33.7 | 40.6 | 47.5 | |
| DSCADetector=Faster R-CNN, Adaptation Paradigm=UDAOD2026.01 | 47.6 | 53.9 | 61.3 | 68.8 | 32.5 | 52.6 | 24.3 | 35.2 | 52.7 | |
| MICDetector=Faster R-CNN, Adaptation Paradigm=UDAOD2026.01 | 47.6 | 50.9 | 55.3 | 67 | 33.9 | 52.4 | 33.7 | 40.6 | 47.5 | |
| OracleDAOD Framework=MT, Base Detector=Faster R-CNN2024.12 | 47.51 | — | — | — | — | — | — | — | — | |
| PSDAOD Framework=MT, Base Detector=Faster R-CNN2024.12 | 46.95 | — | — | — | — | — | — | — | — | |
| ESDAOD Framework=MT, Base Detector=Faster R-CNN2024.12 | 46.95 | — | — | — | — | — | — | — | — | |
| ATC (th=.3)DAOD Framework=MT, Base Detector=Faster R-CNN2024.12 | 46.95 | — | — | — | — | — | — | — | — | |
| ATC (th=.4)DAOD Framework=MT, Base Detector=Faster R-CNN2024.12 | 46.95 | — | — | — | — | — | — | — | — | |
| ATC (th=.95)DAOD Framework=MT, Base Detector=Faster R-CNN2024.12 | 46.95 | — | — | — | — | — | — | — | — | |
| TSDAOD Framework=MT, Base Detector=Faster R-CNN2024.12 | 46.95 | — | — | — | — | — | — | — | — | |
| DSOD-DistillDetector=Deformable DETR, Adaptation Paradigm=SFOD2026.01 | 46.9 | 52.1 | 51.1 | 67.9 | 32.6 | 45.1 | 38.5 | 35.1 | 49.6 | |
| O2net (ours)Detector=D-DETR2022.04 | 46.8 | 48.7 | 51.5 | 63.6 | 31.1 | 47.6 | 47.8 | 38 | 45.9 | |
| O2NetDetector=DDETR-R502025.06 | 46.8 | 48.7 | 51.5 | 63.6 | 31.1 | 47.6 | 47.8 | 38 | 45.9 | |
| O2netDetector=Deformable DETR, Adaptation Paradigm=UDAOD2026.01 | 46.8 | 48.7 | 51.5 | 63.6 | 31.1 | 47.6 | 47 | 38 | 45.9 | |
| Last Ckpt.DAOD Framework=MT, Base Detector=Faster R-CNN2024.12 | 45.74 | — | — | — | — | — | — | — | — | |
| FDDAOD Framework=MT, Base Detector=Faster R-CNN2024.12 | 45.74 | — | — | — | — | — | — | — | — | |
| DASDAOD Framework=MT, Base Detector=Faster R-CNN2024.12 | 45.74 | — | — | — | — | — | — | — | — | |
| DDTDetector=Deformable DETR, Adaptation Paradigm=SFOD2026.01 | 45.5 | 49.3 | 53 | 65.4 | 25.8 | 43 | 39.7 | 40 | 47 | |
| NLTEDetector=FRCNN-R502025.06 | 45.4 | 43.1 | 50.7 | 58.7 | 33.6 | 56.7 | 42.7 | 33.7 | 43.3 | |
| OADADetector=FCOS-V162025.06 | 45.4 | 47.8 | 46.5 | 62.9 | 32.1 | 48.5 | 50.9 | 34.3 | 39.8 | |
| SF-UTBackbone=VGG16-BN2024.07 | 45 | 40.9 | 48 | 58.9 | 29.6 | 51.9 | 50.2 | 36.2 | 44.1 | |
| BoSDAOD Framework=AT, Base Detector=Faster R-CNN2024.12 | 44.91 | — | — | — | — | — | — | — | — | |
| CIGARDetector=FCOS-V162025.06 | 44.9 | 46.1 | 47.3 | 62.1 | 27.8 | 56.6 | 44.3 | 33.7 | 41.3 | |
| SIGMA++Detector=FRCNN-V162025.06 | 44.5 | 46.4 | 45.1 | 61 | 32.1 | 52.2 | 44.6 | 34.8 | 39.9 | |
| SIGMA2022.12 | 44.2 | 44 | 43.9 | 60.3 | 31.6 | 50.4 | 51.5 | 31.7 | 40.6 | |
| SIGMA2023.06 | 44.2 | 44 | 43.9 | 60.3 | 31.6 | 50.4 | 51.5 | 31.7 | 40.6 | |
| SIGMADetector=FCOS-R502025.06 | 44.2 | 44 | 43.9 | 60.3 | 31.6 | 50.4 | 51.5 | 31.7 | 40.6 | |
| SADA2022.12 | 44 | 48.5 | 52.6 | 62.1 | 29.5 | 50.3 | 31.5 | 32.4 | 45.4 | |
| SADADetector=FRCNN-R502025.06 | 44 | 48.5 | 52.6 | 62.1 | 29.5 | 50.3 | 31.5 | 32.4 | 45.4 | |
| MGADetector=FCOS-R1012025.06 | 43.8 | 43.1 | 47.3 | 61.5 | 30.2 | 53.2 | 50.3 | 27.9 | 36.9 | |
| DDTDetector=FRCNN-R182025.06 | 43.8 | 47.9 | 56.5 | 59 | 30 | 49.4 | 27.8 | 36.3 | 44 | |
| FSDR+SNFtraining_domain=Cityscapes (C), category=car, module=SNF2026.01 | 43.7 | — | — | — | — | — | — | — | — | |
| DRUDetector=Deformable DETR, Adaptation Paradigm=SFOD2026.01 | 43.6 | 48.3 | 51.5 | 62.5 | 26.2 | 43.2 | 34.1 | 34.2 | 48.6 | |
| DA-DETRDetector=Deformable DETR, Adaptation Paradigm=UDAOD2026.01 | 43.5 | 49.9 | 50 | 63.1 | 24 | 45.8 | 37.5 | 31.6 | 46.3 | |
| MTTransDetector=DDETR-R502025.06 | 43.4 | 47.7 | 49.9 | 65.2 | 25.8 | 45.9 | 33.8 | 32.6 | 46.5 | |
| MTTransDetector=Deformable DETR, Adaptation Paradigm=UDAOD2026.01 | 43.4 | 47.7 | 49.9 | 65.2 | 25.8 | 45.9 | 33.8 | 32.6 | 46.5 | |
| VISGADetector=Faster RCNN2022.04 | 43.3 | 38.8 | 45.9 | 57.2 | 29.9 | 50.2 | 51.9 | 31.9 | 40.9 | |
| VISGAParadigm=Domain Adaptation (DA)2023.09 | 43.3 | 38.8 | 45.9 | 57.2 | 29.9 | 50.2 | 51.9 | 31.9 | 40.9 | |
| FSDRtraining_domain=Cityscapes (C), category=car2026.01 | 43.3 | — | — | — | — | — | — | — | — | |
| RobustDetDetector=Faster R-CNN, Adaptation Paradigm=UDAOD2026.01 | 43.2 | 39.9 | 47.5 | 59.2 | 31.9 | 52 | 37.8 | 38.4 | 38.6 | |
| BoSDAOD Framework=CMT, Base Detector=Faster R-CNN2024.12 | 43.1 | — | — | — | — | — | — | — | — | |
| TDDDetector=Faster R-CNN, Adaptation Paradigm=UDAOD2026.01 | 43.1 | 39.6 | 47.5 | 55.7 | 33.8 | 47.6 | 42.1 | 37 | 41.4 | |
| D-adaptDetector=Faster RCNN2022.04 | 43 | 40.8 | 47.1 | 57.5 | 33.5 | 46.9 | 41.4 | 33.6 | 43 | |
| SCAN++Detector=FCOS-R1012025.06 | 42.8 | 44.2 | 43.9 | 57.9 | 28.2 | 48.1 | 51.2 | 30.1 | 39.5 | |
| PTDetector=Faster R-CNN, Adaptation Paradigm=UDAOD2026.01 | 42.7 | 40.2 | 48.8 | 59.7 | 30.7 | 51.8 | 30.6 | 35.4 | 44.5 | |
| TIA2023.06 | 42.3 | 52.1 | 38.1 | 49.7 | 37.7 | 34.8 | 46.3 | 48.6 | 31.1 | |
| TIASetting=UDAOD, Backbone=VGG162024.07 | 42.3 | 31.1 | 49.7 | 46.3 | 34.8 | 48.6 | 37.7 | 38.1 | 52.1 | |
| CDGDetector=FRCNN-V162025.06 | 42.3 | 38 | 47.4 | 53.1 | 34.2 | 47.5 | 41.1 | 38.3 | 38.9 | |
| DDFDetector=FRCNN-R502025.06 | 42.3 | 37.6 | 45.5 | 56.1 | 30.7 | 50.4 | 47 | 31.1 | 39.8 | |
| TIADetector=FRCNN-V162025.06 | 42.3 | 34.8 | 46.3 | 49.7 | 31.1 | 52.1 | 48.6 | 37.7 | 38.1 | |
| TIADetector=Faster R-CNN, Adaptation Paradigm=UDAOD2026.01 | 42.3 | 34.8 | 46.3 | 49.7 | 31.1 | 52.1 | 48.6 | 37.7 | 38.1 | |
| BoSDAOD Framework=MT, Base Detector=Faster R-CNN2024.12 | 42.21 | — | — | — | — | — | — | — | — | |
| D-ADAPTDetector=FRCNN-R502025.06 | 42.2 | 44.9 | 54.2 | 61.7 | 25.6 | 36.3 | 24.7 | 37.3 | 46.1 | |
| SCAN2023.06 | 42.1 | 41.7 | 43.9 | 57.3 | 28.7 | 48.6 | 48.7 | 31 | 37.3 | |
| SCANDetector=FCOS-R502025.06 | 42.1 | 41.7 | 43.9 | 57.3 | 28.7 | 48.6 | 48.7 | 31 | 37.3 | |
| MeGA2023.06 | 41.8 | 37.7 | 49 | 52.4 | 25.4 | 49.2 | 46.9 | 34.5 | 39 | |
| MeGA-CDASetting=UDAOD, Backbone=VGG162024.07 | 41.8 | 25.4 | 52.4 | 49 | 37.7 | 46.9 | 34.5 | 39 | 49.2 | |
| UMTSetting=UDAOD, Backbone=VGG162024.07 | 41.7 | 33 | 46.7 | 48.6 | 34.1 | 56.5 | 46.8 | 30.4 | 37.3 | |
| UMTDetector=FRCNN-R1012025.06 | 41.7 | 33 | 46.7 | 48.6 | 34.1 | 56.5 | 46.8 | 30.4 | 37.3 | |
| R-CLIPParadigm=Baseline2023.09 | 41.6 | 46.5 | 51.8 | 57.6 | 27.3 | 45.1 | 19.7 | 34.8 | 50.2 | |
| SFADetector=D-DETR2022.04 | 41.3 | 46.5 | 48.6 | 62.6 | 25.1 | 46.2 | 29.4 | 28.3 | 44 | |
| SFAParadigm=Domain Adaptation (DA)2023.09 | 41.3 | 46.5 | 48.6 | 62.6 | 25.1 | 46.2 | 29.4 | 28.3 | 44 |