Object Detection on Foggy Cityscapes (test)
61.1AP (Person)DSBCO
Evaluation results
| Method | Links | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| DSBCOVenue=-, Detector=FCOS2026.06 | 61.1 | 66.8 | 73 | 58.1 | 72.3 | 62.2 | 58.8 | 65.6 | 64.7 | — | |
| MGCAMTVenue=TIP ’25, Detector=RetinaNet2026.06 | 60.2 | 66.6 | 76.5 | 33.2 | 60.1 | 43.2 | 49.8 | 57.9 | 55.9 | — | |
| BridgeBackbone=DINOv32026.04 | 58.5 | 64.6 | 73.2 | 48.6 | 72.1 | 65.4 | 51.7 | 58.6 | 61.6 | — | |
| BridgeBackbone=ResNet-101, Detector=Diff. Guided2026.04 | 56.5 | 61.8 | 72.9 | 37.1 | 55.7 | 50.1 | 46.2 | 57.1 | 54.7 | — | |
| DINOv32026.04 | 56.1 | 62.7 | 72.6 | 45.5 | 66.9 | 53.1 | 48.9 | 55.7 | 57.7 | — | |
| BridgeBackbone=DINOv22026.04 | 54.3 | 59.4 | 70.1 | 49.1 | 69.3 | 58.4 | 49.8 | 55.1 | 58.2 | — | |
| BridgeBackbone=Stable Diffusion, Detector=Diff. Detector2026.04 | 53.7 | 61 | 72 | 38.8 | 58.8 | 48.1 | 44.2 | 52.1 | 53.6 | — | |
| ACCTVenue=ICASSP ’24, Detector=Def DETR2026.06 | 53.6 | 58.9 | 69.4 | 31.1 | 53.5 | 33.7 | 42.6 | 54.4 | 49.6 | — | |
| BoostBackbone=ResNet-101, Detector=Diff. Guided2026.04 | 52.9 | 62 | 68.2 | 37.4 | 55.3 | 48.4 | 45.5 | 62.7 | 54.1 | — | |
| BridgeBackbone=SAM2026.04 | 52.8 | 58.3 | 68.3 | 32.3 | 56.4 | 36.5 | 43.1 | 51.5 | 49.9 | — | |
| MRTVenue=ICCV ’23, Detector=Def DETR2026.06 | 52.8 | 51.7 | 68.7 | 35.9 | 58.1 | 54.5 | 41 | 47.1 | 51.2 | — | |
| BIADTVenue=ICCV ’23, Detector=Def DETR2026.06 | 52.2 | 58.9 | 69.2 | 31.7 | 55 | 45.1 | 42.6 | 51.3 | 50.8 | — | |
| HTEvaluation Protocol=DA2025.03 | 52.1 | 55.8 | 67.5 | 32.7 | 55.9 | 49.1 | 40.1 | 50.3 | 50.4 | — | |
| Diff. GuidedEvaluation Protocol=DG, Stable Diffusion Version=SD-1.52025.03 | 52.1 | 60.8 | 67.5 | 32.4 | 53.8 | 53.9 | 45.6 | 54.2 | 52.5 | — | |
| GDDBackbone=ResNet-101, Detector=Diff. Guided2026.04 | 52.1 | 60.8 | 67.5 | 32.4 | 53.8 | 53.9 | 45.6 | 54.2 | 52.5 | — | |
| HTVenue=CVPR ’23, Detector=FCOS2026.06 | 52.1 | 55.8 | 67.5 | 32.7 | 55.9 | 49.1 | 40.1 | 50.3 | 50.4 | — | |
| Diff. GuidedEvaluation Protocol=DG, Stable Diffusion Version=SD-2.12025.03 | 51.9 | 59.5 | 67 | 34.8 | 55.1 | 42.2 | 43.4 | 53.9 | 51 | — | |
| AT + REACTVenue=TIP ’24, Detector=Faster R-CNN2026.06 | 51.4 | 57.9 | 67.4 | 37.7 | 58.4 | 52.8 | 44.6 | 54.6 | 53.1 | — | |
| DSTSVenue=Information ’25, Detector=FCOS2026.06 | 51.4 | 54.3 | 68.4 | 37.8 | 54.6 | 40.2 | 42.4 | 51.8 | 50.1 | — | |
| BoostBackbone=Stable Diffusion, Detector=Diff. Detector2026.04 | 51 | 59.9 | 68.1 | 36.4 | 53 | 39.4 | 42.1 | 55.4 | 50.7 | — | |
| MTMVenue=AAAI ’24, Detector=Def DETR2026.06 | 51 | 53.4 | 67.2 | 37.2 | 54.4 | 41.6 | 38.4 | 47.7 | 48.9 | — | |
| MICEvaluation Protocol=DA2025.03 | 50.9 | 55.3 | 67 | 33.9 | 52.4 | 33.7 | 40.6 | 47.5 | 47.6 | — | |
| Diff. DetectorEvaluation Protocol=DG, Stable Diffusion Version=SD-2.12025.03 | 50.4 | 58.2 | 67 | 36.4 | 55.5 | 29.2 | 40.4 | 49.6 | 48.3 | — | |
| Diff. DetectorEvaluation Protocol=DG, Stable Diffusion Version=SD-1.52025.03 | 50.2 | 59.5 | 66.7 | 38 | 56.2 | 39.9 | 39.9 | 50.4 | 50.1 | — | |
| GDDBackbone=Stable Diffusion, Detector=Diff. Detector2026.04 | 50.2 | 59.5 | 66.7 | 38 | 56.2 | 39.9 | 39.9 | 50.4 | 50.1 | — | |
| DA-DETRVenue=CVPR ’23, Detector=Def DETR2026.06 | 49.9 | 50 | 63.1 | 24 | 45.8 | 37.5 | 31.6 | 46.3 | 43.5 | — | |
| AQTVenue=IJCAI ’22, Detector=Def DETR2026.06 | 49.3 | 52.3 | 64.4 | 27.7 | 53.7 | 46.5 | 36 | 46.4 | 47.1 | — | |
| SAM2026.04 | 49.2 | 54.6 | 65.9 | 34.2 | 52 | 20.8 | 41.8 | 47.7 | 45.8 | — | |
| AT + DSD-DAVenue=ICML ’24, Detector=Faster R-CNN2026.06 | 49.1 | 59.3 | 66.2 | 35.8 | 60 | 47.1 | 45.2 | 54.9 | 52.2 | — | |
| CMT + DSD-DAVenue=ICML ’24, Detector=Faster R-CNN2026.06 | 49 | 59.6 | 65.3 | 35.7 | 61 | 46.5 | 43.9 | 57.3 | 52.3 | — | |
| O2NetVenue=ACM MM ’22, Detector=Def DETR2026.06 | 48.7 | 51.5 | 63.6 | 31.1 | 47.6 | 47.8 | 38 | 45.9 | 46.8 | — | |
| OADAEvaluation Protocol=DA2025.03 | 47.8 | 46.5 | 62.9 | 32.1 | 48.5 | 50.9 | 34.3 | 39.8 | 45.4 | — | |
| OADAVenue=ECCV ’22, Detector=FCOS2026.06 | 47.8 | 46.5 | 62.9 | 32.1 | 48.5 | 50.9 | 34.3 | 39.8 | 45.4 | — | |
| MTTransEvaluation Protocol=DA2025.03 | 47.7 | 49.9 | 65.2 | 25.8 | 45.9 | 33.8 | 32.6 | 46.5 | 43.4 | — | |
| MTTransVenue=ECCV ’22, Detector=Def DETR2026.06 | 47.7 | 49.9 | 65.2 | 25.8 | 45.9 | 33.9 | 32.6 | 43.5 | 46.8 | — | |
| DINOv22026.04 | 47.6 | 55 | 65.5 | 46.4 | 62.1 | 56.3 | 44.4 | 45.3 | 52.8 | — | |
| SIGMA++Evaluation Protocol=DA2025.03 | 46.4 | 45.1 | 61 | 32.1 | 52.2 | 44.6 | 34.8 | 39.9 | 44.5 | — | |
| SIGMA++Venue=TPAMI ’23, Detector=FCOS2026.06 | 46.4 | 45.1 | 61 | 32.1 | 52.2 | 44.6 | 34.8 | 39.9 | 44.5 | — | |
| CIGAREvaluation Protocol=DA2025.03 | 46.1 | 47.3 | 62.1 | 27.8 | 56.6 | 44.3 | 33.7 | 41.3 | 44.9 | — | |
| CIGARVenue=CVPR ’23, Detector=FCOS2026.06 | 46.1 | 47.3 | 62.1 | 27.8 | 56.6 | 44.3 | 33.7 | 41.3 | 44.9 | — | |
| CMTEvaluation Protocol=DA2025.03 | 45.9 | 55.7 | 63.7 | 39.6 | 66 | 38.8 | 41.4 | 51.2 | 50.3 | — | |
| CMTVenue=CVPR ’23, Detector=Faster R-CNN2026.06 | 45.9 | 55.7 | 63.7 | 39.6 | 66 | 38.8 | 41.4 | 51.2 | 50.3 | — | |
| MILABackbone=VGG-162023.09 | 45.6 | 52.8 | 64.8 | 34.7 | 61.4 | 54.1 | 39.7 | 51.5 | 50.6 | — | |
| ATBackbone=VGG-16, Base detection model=Faster R-CNN2021.11 | 45.5 | 55.1 | 64.2 | 35 | 56.3 | 54.3 | 38.5 | 51.9 | 50.9 | — | |
| ATBackbone=VGG-16, copied from origin paper=true2023.09 | 45.5 | 55.1 | 64.2 | 35 | 56.3 | 54.3 | 38.5 | 51.9 | 50.9 | — | |
| ATVenue=CVPR ’22, Detector=Faster R-CNN2026.06 | 45.5 | 55.1 | 64.2 | 35 | 56.3 | 54.3 | 38.5 | 51.9 | 50.9 | — | |
| SSAL2022.04 | 45.1 | 47.4 | 59.4 | 24.5 | 50 | 25.7 | 26 | 38.7 | 39.6 | — | |
| ATBackbone=VGG-162023.09 | 45 | 53.9 | 63.6 | 33.9 | 60 | 45.1 | 38.8 | 49 | 49 | — | |
| D_adaptVenue=ICLR ’22, Detector=Faster R-CNN2026.06 | 44.9 | 54.2 | 61.7 | 25.6 | 36.3 | 24.7 | 37.3 | 46.1 | 41.3 | — | |
| LSCDIGMVenue=J SUPERCOMPUT ’25, Detector=FCOS2026.06 | 44.7 | 43.1 | 60.9 | 28.9 | 48.3 | 48 | 36.7 | 37.7 | 43.5 | — | |
| SIGMAVenue=CVPR ’22, Detector=FCOS2026.06 | 44 | 43.9 | 60.3 | 31.6 | 50.4 | 51.5 | 31.7 | 40.6 | 44.2 | — | |
| KTNetVenue=Neural Networks ’23, Detector=RetinaNet2026.06 | 43.7 | 48.9 | 56.9 | 34.9 | 51.8 | 55.3 | 32.8 | 42.8 | 45.9 | — | |
| DAF+NLTELarger training and testing scales=true2022.04 | 43.1 | 50.7 | 58.7 | 33.6 | 56.7 | 42.7 | 33.7 | 43.3 | 45.4 | — | |
| MGAEvaluation Protocol=DA2025.03 | 43.1 | 47.3 | 61.5 | 30.2 | 53.2 | 50.3 | 27.9 | 36.9 | 43.8 | — | |
| Oracle (F-RCNN)Backbone=VGG-16, Base detection model=Faster R-CNN2021.11 | 43.1 | 49.8 | 61.3 | 28.6 | 50.3 | 35.1 | 32.5 | 40.7 | 42.7 | — | |
| OracleBackbone=VGG-162023.09 | 43.1 | 49.8 | 61.3 | 28.6 | 50.3 | 35.1 | 32.5 | 40.7 | 42.7 | — | |
| DSS-UDA2022.04 | 42.9 | 51.2 | 53.6 | 33.6 | 49.2 | 18.9 | 36.2 | 41.8 | 40.9 | — | |
| EPM2022.04 | 41.9 | 38.7 | 56.7 | 22.6 | 41.5 | 26.8 | 24.6 | 35.5 | 36 | — | |
| RGSEVisual Backbone=Swin-B, Framework=Grounding DINO, Bp-free=true2026.05 | 41.52 | 27.22 | 56.78 | 34.03 | 50.35 | 21.68 | 38.13 | 47.34 | — | 39.63 | |
| RGSEVisual Backbone=Swin-T, Framework=Grounding DINO, Bp-free=true2026.05 | 41.42 | 5.7 | 50.96 | 28.99 | 40.5 | 0.88 | 32.1 | 39.1 | — | 29.96 | |
| BCAVisual Backbone=Swin-T, Framework=Grounding DINO, Bp-free=true2026.05 | 41.01 | 5.61 | 47.85 | 21.86 | 33.4 | 0.91 | 28.47 | 29.82 | — | 26.12 | |
| PTVenue=ICML ’22, Detector=Faster R-CNN2026.06 | 40.2 | 48.8 | 59.7 | 30.7 | 51.8 | 30.6 | 35.4 | 44.5 | 42.7 | — | |
| TDDVenue=CVPR ’22, Detector=Faster R-CNN2026.06 | 39.6 | 47.5 | 55.7 | 33.8 | 47.6 | 42.1 | 37 | 41.4 | 43.1 | — | |
| BCA+Visual Backbone=Swin-T, Framework=Grounding DINO, Bp-free=true2026.05 | 39.03 | 3.61 | 46.98 | 22.26 | 35.26 | 0.87 | 29.37 | 35.87 | — | 26.65 | |
| ViSGA2021.10 | 38.8 | 45.9 | 57.2 | 29.9 | 50.2 | 51.9 | 31.9 | 40.9 | 43.3 | — | |
| Source OnlyVenue=-, Detector=FCOS2026.06 | 38.5 | 41.8 | 46 | 28.6 | 42.1 | 11 | 31.1 | 42.2 | 35.1 | — | |
| DIDN2022.04 | 38.3 | 44.4 | 51.8 | 28.7 | 53.3 | 34.7 | 32.4 | 40.4 | 40.5 | — | |
| TDAVisual Backbone=Swin-B, Framework=Grounding DINO, Bp-free=true2026.05 | 38.29 | 25.53 | 50.09 | 30.49 | 45.92 | 11.98 | 33.12 | 39.06 | — | 34.31 | |
| BCA+Visual Backbone=Swin-B, Framework=Grounding DINO, Bp-free=true2026.05 | 38.15 | 26.3 | 52.3 | 30.77 | 45.66 | 20.29 | 33.89 | 42.41 | — | 36.22 | |
| HisTPTVisual Backbone=Swin-B, Framework=Grounding DINO, Bp-free=false2026.05 | 37.95 | 22.46 | 54 | 29.98 | 44.11 | 12.5 | 37.27 | 42.33 | — | 35.07 | |
| MeGA-CDABackbone=VGG16, Base Detector=Faster R-CNN2021.03 | 37.7 | 49 | 52.4 | 25.4 | 49.2 | 46.9 | 34.5 | 39 | 41.8 | — | |
| OracleBackbone=VGG16, Base Detector=Faster R-CNN2021.03 | 37.2 | 48.2 | 52.7 | 35.2 | 52.2 | 48.5 | 35.3 | 38.8 | 43.5 | — | |
| DAF+NLTE2022.04 | 37 | 46.9 | 54.8 | 32.1 | 49.9 | 43.5 | 29.9 | 39.6 | 41.8 | — | |
| BCAVisual Backbone=Swin-B, Framework=Grounding DINO, Bp-free=true2026.05 | 36.53 | 24.42 | 50.77 | 30.83 | 45.25 | 20.29 | 33.2 | 42.49 | — | 35.47 | |
| Prior DABackbone=VGG16, Base Detector=Faster R-CNN2021.03 | 36.4 | 47.3 | 51.7 | 22.8 | 47.6 | 34.1 | 36 | 38.7 | 39.3 | — | |
| DA-Detectiondefoggy=true2020.12 | 36 | 45.5 | 54.4 | 24.3 | 44.1 | 25.8 | 29.1 | 35.9 | 36.9 | — | |
| TDAVisual Backbone=Swin-T, Framework=Grounding DINO, Bp-free=true2026.05 | 35.27 | 4.87 | 46.43 | 22.82 | 32.3 | 0.38 | 28.68 | 29.86 | — | 25.08 | |
| GDINOVisual Backbone=Swin-B, Framework=Grounding DINO, Bp-free=true2026.05 | 34.95 | 20.35 | 51.56 | 30.01 | 45.72 | 0.87 | 35.21 | 32.06 | — | 31.34 | |
| AT-Fasterdefoggy=false2020.12 | 34.6 | 47 | 50 | 23.7 | 43.3 | 38.7 | 33.4 | 38.8 | 38.7 | — | |
| ATFBackbone=VGG16, Base Detector=Faster R-CNN2021.03 | 34.6 | 47 | 50 | 23.7 | 43.3 | 38.7 | 33.4 | 38.8 | 38.7 | — | |
| AT-FasterBackbone=VGG-16, Pre-trained=ImageNet, Input size=shorter side 600, IoU threshold=0.52023.01 | 34.6 | 47 | 50 | 23.7 | 43.3 | 38.7 | 33.4 | 38.8 | 38.7 | — | |
| MADEvaluation Protocol=DG2025.03 | 34.2 | 47.4 | 45 | 25.6 | 44 | 42.4 | 30.3 | 40.1 | 38.6 | — | |
| MAD2026.04 | 34.2 | 47.4 | 45 | 25.6 | 44 | 42.4 | 30.3 | 40.1 | 38.6 | — | |
| SFOD-Mosaic-Defoggy (Ideal)defoggy=true2020.12 | 34.1 | 44.4 | 51.9 | 30.4 | 41.8 | 25.7 | 30.3 | 37.2 | 37 | — | |
| SC-DA2021.10 | 33.8 | 42.1 | 52.1 | 26.8 | 42.5 | 26.5 | 29.2 | 34.5 | 35.9 | — | |
| Selective DABackbone=VGG16, Base Detector=Faster R-CNN2021.03 | 33.5 | 38 | 48.5 | 26.5 | 39 | 23.3 | 28 | 33.6 | 33.8 | — | |
| SC-DA2022.04 | 33.5 | 38 | 48.5 | 26.5 | 39 | 23.3 | 28 | 33.6 | 33.8 | — | |
| SCDABackbone=VGG-16, Base detection model=Faster R-CNN2021.11 | 33.5 | 38 | 48.5 | 26.5 | 39 | 23.3 | 28 | 33.6 | 33.8 | — | |
| VDD2022.04 | 33.4 | 44 | 51.7 | 33.9 | 52 | 40.9 | 32.3 | 36.8 | 39.8 | — | |
| RPNPA2022.04 | 33.3 | 45.6 | 50.5 | 30.4 | 43.6 | 42 | 29.7 | 36.8 | 39 | — | |
| SFOD-Mosaic (SED)defoggy=false2020.12 | 33.2 | 40.7 | 44.5 | 25.5 | 39 | 22.2 | 28.4 | 34.1 | 33.5 | — | |
| SFOD-Mosaic (Ideal)defoggy=false2020.12 | 33.2 | 40.7 | 44.5 | 25.5 | 39 | 22.2 | 28.4 | 34.1 | 33.5 | — | |
| SFOD-Mosaic-Defoggy (SED)defoggy=true2020.12 | 33.2 | 44.7 | 51.7 | 27.9 | 45.9 | 21.3 | 28.6 | 37.3 | 36.3 | — | |
| SFOD-MosaicBackbone=VGG-16, Pre-trained=ImageNet, Input size=shorter side 600, IoU threshold=0.52023.01 | 33.2 | 40.7 | 44.5 | 25.5 | 39 | 22.2 | 28.4 | 34.1 | 33.5 | — | |
| HTCNBackbone=VGG-16, Base detection model=Faster R-CNN2021.11 | 33.2 | 47.5 | 47.9 | 31.6 | 47.4 | 40.9 | 32.3 | 37.1 | 39.8 | — | |
| Oracledefoggy=false2020.12 | 33.1 | 53.1 | 49.8 | 38.1 | 48.2 | 37.4 | 41.1 | 57.4 | 44.8 | — | |
| OracleBackbone=VGG-16, Pre-trained=ImageNet, Input size=shorter side 600, IoU threshold=0.52023.01 | 33.1 | 53.1 | 49.8 | 38.1 | 48.2 | 37.4 | 41.1 | 57.4 | 44.8 | — | |
| HCLBackbone=VGG-16, Pre-trained=ImageNet, Input size=shorter side 600, IoU threshold=0.52023.01 | 33 | 41.3 | 46 | 26.9 | 40.7 | 25 | 28.1 | 35.9 | 34.6 | — | |
| UMTBackbone=VGG-16, Base detection model=Faster R-CNN2021.11 | 33 | 46.7 | 48.6 | 34.1 | 56.5 | 46.8 | 30.4 | 37.3 | 41.7 | — | |
| CR-DA-DETdefoggy=false2020.12 | 32.9 | 43.8 | 49.2 | 27.2 | 45.1 | 36.4 | 30.3 | 34.6 | 37.4 | — |