Semantic Scene Completion on SemanticKITTI official (test)
57.7mIoULocal-DIFs
Evaluation Results
| Method | Links | |||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Local-DIFsInput Dimensionality=2.5D/3D, Evaluation Source=Cited from MonoScene2023.02 | 57.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 22.7 | — | — | |
| LMSCNetInput Dimensionality=2.5D/3D, Evaluation Source=Cited from MonoScene2023.02 | 56.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 17.6 | — | — | |
| JS3CNetInput Dimensionality=2.5D/3D, Evaluation Source=Cited from MonoScene2023.02 | 56.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 23.8 | — | — | |
| SCPNet#frame=42023.03 | 47.5 | 59 | 4,850 | 5,110 | 2,100 | 3,780 | 4,760 | 3,500 | 1,050 | 7,970 | 57.7 | 60 | 32.8 | 5,020 | 54.1 | 56.9 | 47.1 | 58 | 48.3 | 48 | — | 68.5 | — | |
| S3CNetInput Dimensionality=2.5D/3D, Evaluation Source=Cited from MonoScene2023.02 | 45.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 29.5 | — | — | |
| OccDepthInput Dimensionality=2D2023.02 | 45.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 15.9 | — | — | |
| SCPNet#frame=12023.03 | 36.7 | 46.4 | 3,320 | 3,490 | 1,380 | 2,910 | 2,820 | 2,470 | 180 | 6,850 | 51.3 | 49.8 | 30.7 | 3,880 | 44.7 | 46.4 | 40.1 | 48.7 | 40.4 | 25.1 | — | 56.1 | — | |
| MonoSceneInput Dimensionality=2D, Evaluation Source=Cited from MonoScene2023.02 | 34.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 11.1 | — | — | |
| S3CNetFPS=1.822021.09 | 29.5 | 31.2 | 41.5 | 45 | 6.7 | 16.1 | 45.9 | 35.8 | 16 | 42 | 17 | 22.5 | 7.9 | 52.2 | 31.3 | 39.5 | 34 | 21.2 | 31 | 24.3 | — | — | — | |
| S3CNet2023.03 | 29.5 | 31.2 | 4,150 | 4,500 | 670 | 4,640 | 3,580 | 1,600 | 4,200 | 1,700 | 22.5 | 7.9 | 52.2 | 3,130 | 39.5 | 34 | 21.2 | 31 | 24.3 | — | — | 45.6 | — | |
| JS3C-Net2020.12 | 23.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| JS3C-NetFPS=1.732021.09 | 23.8 | 33.3 | 14.4 | 8.8 | 7.2 | 12.7 | 8 | 5.1 | 0.4 | 64.7 | 34.9 | 39.9 | 14.1 | 39.4 | 30.4 | 43.1 | 19.6 | 40.5 | 18.9 | 15.9 | — | — | — | |
| JS3C-Net2023.03 | 23.8 | 33.3 | 1,440 | 880 | 720 | 1,270 | 800 | 510 | 40 | 6,470 | 34.9 | 39.9 | 14.1 | 3,940 | 30.4 | 43.1 | 19.6 | 40.5 | 18.9 | 15.9 | — | 56.6 | — | |
| SSA-SCFPS=20.042021.09 | 23.5 | 36.5 | 13.9 | 4.6 | 5.7 | 7.4 | 4.4 | 2.6 | 0.7 | 72.2 | 37.4 | 43.7 | 10.9 | 43.6 | 30.7 | 43.5 | 25.6 | 41.8 | 14.5 | 6.9 | — | — | — | |
| SSA-SC2023.03 | 23.5 | 36.5 | 1,390 | 460 | 570 | 740 | 440 | 260 | 70 | 7,220 | 37.4 | 43.7 | 10.9 | 4,360 | 30.7 | 43.5 | 25.6 | 41.8 | 14.5 | 6.9 | — | 58.8 | — | |
| Local-DIFs2021.09 | 22.7 | 34.8 | 3.6 | 2.4 | 4.4 | 4.8 | 2.5 | 1.1 | 0 | 67.9 | 40.1 | 42.9 | 11.4 | 40.4 | 29 | 42.2 | 26.5 | 39.1 | 21.3 | 17.5 | — | — | — | |
| Local-DIFs2023.03 | 22.7 | 34.8 | 360 | 240 | 440 | 480 | 250 | 110 | 0 | 6,790 | 40.1 | 42.9 | 11.4 | 4,040 | 29 | 42.2 | 26.5 | 39.1 | 21.3 | 17.5 | — | 57.7 | — | |
| UDNet2023.03 | 19.5 | 33.9 | 80 | 40 | 380 | 440 | 50 | 30 | 30 | 6,200 | 28.2 | 35.1 | 9.1 | 3,950 | 24.4 | 40.9 | 23.2 | 32.3 | 18.8 | 13.1 | — | 59.4 | — | |
| TS3D+DNet+SATNet2020.08 | 17.7 | 62.2 | 31.57 | 23.29 | 6.46 | 34.12 | 30.7 | 4.85 | 0 | 0 | 0.07 | 40.12 | 21.88 | 33.09 | 0 | 0 | 0 | 24.05 | 16.89 | 6.94 | — | — | — | |
| TS3D^3segmentation_input=DarkNet53Seg2020.12 | 17.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| TS3D+DNet+SATNetFPS=1.272021.09 | 17.7 | 30.7 | 0 | 0 | 4.9 | 0.1 | 0 | 0 | 0 | 62.2 | 23.3 | 31.6 | 6.5 | 34.1 | 24.1 | 40.1 | 21.9 | 33.1 | 16.9 | 6.9 | — | — | — | |
| TDS2023.03 | 17.7 | 29.5 | 0 | 0 | 250 | 10 | 0 | 0 | 0 | 6,220 | 23.3 | 31.6 | 6.5 | 3,410 | 24.1 | 40.1 | 21.9 | 33.1 | 16.9 | 6.9 | — | 50.6 | — | |
| LMSCNet-singlescalemode=single-scale2020.08 | 17.62 | 64.8 | 34.68 | 29.02 | 4.62 | 38.08 | 30.89 | 1.47 | 0 | 0 | 0.81 | 41.31 | 19.89 | 32.05 | 0 | 0 | 0 | 21.32 | 15.01 | 0.84 | — | — | — | |
| LMSCNet-singlescale2021.09 | 17.6 | 30.9 | 0 | 0 | 1.5 | 0.8 | 0 | 0 | 0 | 64.8 | 29 | 34.7 | 4.6 | 38.1 | 21.3 | 41.3 | 19.9 | 32.1 | 15 | 0.8 | — | — | — | |
| LMSCNet-SS2023.03 | 17.6 | 30.9 | 0 | 0 | 150 | 80 | 0 | 0 | 0 | 6,480 | 29 | 34.7 | 4.6 | 3,810 | 21.3 | 41.3 | 19.9 | 32.1 | 15 | 0.8 | — | 56.7 | — | |
| EsscNet2020.12 | 17.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ESSCNet2023.03 | 17.5 | 26.4 | 30 | 540 | 500 | 910 | 290 | 10 | 30 | 30 | 43.8 | 26.9 | 28.1 | 1,030 | 29.8 | 23.3 | 35.8 | 20.1 | 28.7 | 16.4 | — | 41.8 | — | |
| LMSCNetmode=multiscale2020.08 | 17.01 | 64.04 | 33.12 | 24.91 | 3.22 | 38.67 | 29.48 | 2.53 | 0 | 0 | 0.11 | 40.53 | 18.97 | 30.77 | 0 | 0 | 0 | 20.52 | 15.72 | 0.54 | — | — | — | |
| LMSCNetFPS=21.282021.09 | 17 | 29.5 | 0 | 0 | 2.5 | 0.1 | 0 | 0 | 0 | 64 | 24.9 | 33.1 | 3.2 | 38.7 | 20.5 | 40.5 | 19 | 30.8 | 15.7 | 0.5 | — | — | — | |
| SSCNet-fullImplementation=Own implementation2020.08 | 16.14 | 51.15 | 30.76 | 27.12 | 6.44 | 34.53 | 24.26 | 1.18 | 0.54 | 0.78 | 4.34 | 35.25 | 18.17 | 29.01 | 0.25 | 0.25 | 0.03 | 19.87 | 13.1 | 6.73 | — | — | — | |
| SSCNet-fullFPS=45.942021.09 | 16.1 | 24.3 | 0.5 | 0.8 | 1.2 | 4.3 | 0.3 | 0.3 | 0 | 51.2 | 27.1 | 30.8 | 6.4 | 34.5 | 19.9 | 35.3 | 18.2 | 29 | 13.1 | 6.7 | — | — | — | |
| SSCNet-Full2023.03 | 16.1 | 24.3 | 50 | 80 | 120 | 430 | 10 | 30 | 30 | 0 | 51.2 | 27.1 | 30.8 | 640 | 34.5 | 19.9 | 35.3 | 18.2 | 29 | 13.1 | — | 50 | — | |
| VoxFormer-Tvariant=T2023.02 | 13.41 | 21.7 | 1.9 | 1.6 | 3.6 | 4.1 | 1.6 | 1.1 | 0 | 54.1 | 25.1 | 26.9 | 7.3 | 23.5 | 13.1 | 24.4 | 8.1 | 24.2 | 6.6 | 5.7 | — | — | 43.21 | |
| VoxFormer-Svariant=S2023.02 | 12.2 | 20.8 | 1 | 0.7 | 3.5 | 3.7 | 1.4 | 2.6 | 0.2 | 53.9 | 21.1 | 25.3 | 5.6 | 19.8 | 11.1 | 22.4 | 7.5 | 21.3 | 5.1 | 4.9 | — | — | 42.95 | |
| TPVFormerInput Modality=Camera2023.02 | 11.26 | 19.2 | 1 | 0.5 | 3.7 | 2.3 | 1.1 | 2.4 | 0.3 | 55.1 | 27.4 | 27.2 | 6.5 | 14.8 | 11 | 13.9 | 2.6 | 20.4 | 2.9 | 1.5 | 34.25 | — | — | |
| MonoSceneInput Modality=Camera2023.02 | 11.08 | 18.8 | 0.5 | 0.7 | 3.3 | 4.4 | 1 | 1.4 | 0.4 | 54.7 | 24.8 | 27.1 | 5.7 | 14.4 | 11.1 | 14.9 | 2.4 | 19.5 | 3.3 | 2.1 | 34.16 | — | — | |
| MonoScene2023.02 | 11.08 | 18.8 | 0.5 | 0.7 | 3.3 | 4.4 | 1 | 1.4 | 0.4 | 54.7 | 24.8 | 27.1 | 5.7 | 14.4 | 11.1 | 14.9 | 2.4 | 19.5 | 3.3 | 2.1 | — | — | 34.16 | |
| TS3D^22020.12 | 10.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| TS3D+DNetFPS=8.722021.09 | 10.2 | 8 | 0.1 | 0 | 2.2 | 4 | 2.3 | 0 | 0 | 27.5 | 18.9 | 18.5 | 6.6 | 22.1 | 15.8 | 19.5 | 12.9 | 20.2 | 7.6 | 7 | — | — | — | |
| TS3D+DNet2020.08 | 10.19 | 27.53 | 18.51 | 18.89 | 6.58 | 22.05 | 8.04 | 2.19 | 0.08 | 0.02 | 3.96 | 19.48 | 12.85 | 20.22 | 2.33 | 0.61 | 0.01 | 15.79 | 7.57 | 6.99 | — | — | — | |
| TS3D2020.08 | 9.54 | 28 | 16.98 | 15.65 | 4.86 | 23.19 | 10.72 | 2.39 | 0 | 0 | 0.19 | 24.73 | 12.46 | 18.32 | 0.03 | 0.05 | 0 | 13.23 | 6.98 | 3.52 | — | — | — | |
| SSCNet2020.08 | 9.53 | 27.55 | 16.99 | 15.6 | 6.04 | 20.88 | 10.35 | 1.79 | 0 | 0 | 0.11 | 25.77 | 11.88 | 18.16 | 0 | 0 | 0 | 14.4 | 7.9 | 3.67 | — | — | — | |
| SSCNet2020.12 | 9.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| TS3D2020.12 | 9.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SSCNetFPS=56.902021.09 | 9.5 | 10.4 | 0 | 0 | 1.8 | 0.1 | 0 | 0 | 0 | 27.6 | 15.6 | 17 | 6 | 20.9 | 14.4 | 25.8 | 11.9 | 18.2 | 7.9 | 3.7 | — | — | — | |
| TS3DFPS=9.792021.09 | 9.5 | 10.7 | 0 | 0 | 2.4 | 0.2 | 0 | 0 | 0 | 28 | 15.7 | 17 | 4.9 | 23.2 | 13.2 | 24.7 | 12.5 | 18.3 | 7 | 3.5 | — | — | — | |
| JS3C-NetInput Modality=Camera2023.02 | 8.97 | 20.1 | 0 | 0 | 0.8 | 4.1 | 0 | 0.2 | 0.2 | 47.3 | 19.9 | 21.7 | 2.8 | 12.7 | 8.7 | 14.2 | 3.1 | 12.4 | 1.9 | 0.3 | 34 | — | — | |
| AICNetInput Modality=Camera2023.02 | 7.09 | 15.3 | 0 | 0 | 0.7 | 0 | 0 | 0 | 0 | 39.3 | 19.8 | 18.3 | 1.6 | 9.6 | 5 | 9.6 | 1.9 | 13.5 | 0.1 | 0 | 23.93 | — | — | |
| LMSCNetInput Modality=Camera2023.02 | 7.07 | 14.3 | 0 | 0 | 0.3 | 0 | 0 | 0 | 0 | 46.7 | 13.5 | 19.5 | 3.1 | 10.3 | 5.4 | 10.8 | 0 | 10.4 | 0 | 0 | 31.38 | — | — | |
| 3DSketchInput Modality=Camera2023.02 | 6.23 | 17.1 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 37.7 | 0 | 19.8 | 0 | 12.1 | 3.4 | 12.1 | 0 | 16.1 | 0 | 0 | 26.85 | — | — |