Semantic Segmentation on GTA → Cityscapes (test)
97.5Road IoUDepth-aware Framework (DCF+AFO)
Evaluation results
| Method | Links | ||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Depth-aware Framework (DCF+AFO)Training with depth data=true2023.11 | 97.5 | 80.7 | 92.1 | 66.4 | 62.3 | 63.1 | 67.7 | 75.7 | 91.8 | 52.4 | 93.9 | 81.6 | 61.8 | 94.7 | 88.3 | 90 | 81.2 | 65.8 | 69.6 | 77.7 | |
| MICTraining with depth data=false2023.11 | 97.4 | 80.1 | 91.7 | 61.2 | 56.9 | 59.7 | 66 | 71.3 | 91.7 | 51.4 | 94.3 | 79.8 | 56.1 | 94.6 | 85.4 | 90.3 | 80.4 | 64.5 | 68.5 | 75.9 | |
| HRDATraining with depth data=false2023.11 | 96.4 | 74.4 | 91 | 61.6 | 51.5 | 57.1 | 63.9 | 69.3 | 91.3 | 48.4 | 94.2 | 79 | 52.9 | 93.9 | 84.1 | 85.7 | 75.9 | 63.9 | 67.5 | 73.8 | |
| CAMixTraining with depth data=false2023.11 | 96 | 73.1 | 89.5 | 53.9 | 50.8 | 51.7 | 58.7 | 64.9 | 90 | 51.2 | 92.2 | 71.8 | 44 | 92.8 | 78.7 | 82.3 | 70.9 | 54.1 | 64.3 | 70 | |
| DAFormerTraining with depth data=false2023.11 | 95.7 | 70.2 | 89.4 | 53.5 | 48.1 | 49.6 | 55.8 | 59.4 | 89.9 | 47.9 | 92.5 | 72.2 | 44.7 | 92.3 | 74.5 | 78.2 | 65.1 | 55.9 | 61.8 | 68.3 | |
| CorDATraining with depth data=true2023.11 | 94.7 | 63.1 | 87.6 | 30.7 | 40.6 | 40.2 | 47.8 | 51.6 | 87.6 | 47 | 89.7 | 66.7 | 35.9 | 90.2 | 48.9 | 57.5 | 0 | 39.8 | 56 | 56.6 | |
| BAPATraining with depth data=false2023.11 | 94.4 | 61 | 88 | 26.8 | 39.9 | 38.3 | 46.1 | 55.3 | 87.8 | 46.1 | 89.4 | 68.8 | 40 | 90.2 | 60.4 | 59 | 0 | 45.1 | 54.2 | 57.4 | |
| DBSTTraining with depth data=true2023.11 | 94.3 | 60 | 87.9 | 50.5 | 43 | 42.6 | 50.8 | 51.3 | 88 | 45.9 | 89.7 | 68.9 | 41.8 | 88 | 45.8 | 63.8 | 0 | 50 | 55.8 | 58.8 | |
| CaCoTraining with depth data=false2023.11 | 93.8 | 64.1 | 85.7 | 43.7 | 42.2 | 46.1 | 50.1 | 54 | 88.7 | 47 | 86.5 | 68.1 | 2.9 | 88 | 43.4 | 60.1 | 31.5 | 46.1 | 60.9 | 58 | |
| FAFSTraining with depth data=true2023.11 | 93.4 | 60.7 | 88 | 43.5 | 32.1 | 40.3 | 54.3 | 53 | 88.2 | 44.5 | 90 | 69.5 | 35.8 | 88.7 | 34.1 | 53.9 | 41.3 | 51.7 | 54.7 | 58.8 | |
| FDATraining with depth data=false2023.11 | 92.5 | 53.3 | 82.4 | 26.5 | 27.6 | 36.4 | 40.6 | 38.9 | 82.3 | 39.8 | 78 | 62.6 | 34.4 | 84.9 | 34.1 | 53.1 | 16.9 | 27.7 | 46.4 | 50.5 | |
| CBSTTraining with depth data=false2023.11 | 91.8 | 53.5 | 80.5 | 32.7 | 21 | 34 | 28.9 | 20.4 | 83.9 | 34.2 | 80.9 | 53.1 | 24 | 82.7 | 30.3 | 35.9 | 16 | 25.9 | 42.8 | 45.9 | |
| MRKLDTraining with depth data=false2023.11 | 91 | 55.4 | 80 | 33.7 | 21.4 | 37.3 | 32.9 | 24.5 | 85 | 34.1 | 80.8 | 57.7 | 24.6 | 84.1 | 27.8 | 30.1 | 26.9 | 26 | 42.3 | 47.1 | |
| FADATraining with depth data=false2023.11 | 91 | 50.6 | 86 | 43.4 | 29.8 | 36.8 | 43.4 | 25 | 86.8 | 38.3 | 87.4 | 64 | 38 | 85.2 | 31.6 | 46.1 | 6.5 | 25.4 | 37.1 | 50.1 | |
| AdaboostTraining with depth data=false2023.11 | 90.7 | 35.9 | 85.7 | 40.1 | 27.8 | 39 | 49 | 48.4 | 85.9 | 35.1 | 85.1 | 63.1 | 34.4 | 86.8 | 38.3 | 49.5 | 0.2 | 26.5 | 45.3 | 50.9 | |
| UncertaintyTraining with depth data=false2023.11 | 90.4 | 31.2 | 85.1 | 36.9 | 25.6 | 37.5 | 48.8 | 48.5 | 85.3 | 34.8 | 81.1 | 64.4 | 36.8 | 86.3 | 34.9 | 52.2 | 1.7 | 29 | 44.6 | 50.3 | |
| DACSTraining with depth data=false2023.11 | 89.9 | 39.7 | 87.9 | 30.7 | 39.5 | 38.5 | 46.4 | 52.8 | 88 | 44 | 88.8 | 67.2 | 35.8 | 84.5 | 45.7 | 50.2 | 0 | 27.3 | 34 | 52.1 | |
| AdvEntTraining with depth data=false2023.11 | 89.4 | 33.1 | 81 | 26.6 | 26.8 | 27.2 | 33.5 | 24.7 | 83.9 | 36.7 | 78.8 | 58.7 | 30.5 | 84.8 | 38.5 | 44.5 | 1.7 | 31.6 | 32.4 | 45.5 | |
| ASATraining with depth data=false2023.11 | 89.2 | 27.8 | 81.3 | 25.3 | 22.7 | 28.7 | 36.5 | 19.6 | 83.8 | 31.4 | 77.1 | 59.2 | 29.8 | 84.3 | 33.2 | 45.6 | 16.9 | 34.5 | 30.8 | 45.1 | |
| MRNetTraining with depth data=false2023.11 | 89.1 | 23.9 | 82.2 | 19.5 | 20.1 | 33.5 | 42.2 | 39.1 | 85.3 | 33.7 | 76.4 | 60.2 | 33.7 | 86 | 36.1 | 43.3 | 5.9 | 22.8 | 30.8 | 45.5 | |
| MaxSquareTraining with depth data=false2023.11 | 88.1 | 27.7 | 80.8 | 28.7 | 19.8 | 24.9 | 34 | 17.8 | 83.6 | 34.7 | 76 | 58.6 | 28.6 | 84.1 | 37.8 | 43.1 | 7.2 | 32.3 | 34.2 | 44.3 | |
| ProDATraining with depth data=false2023.11 | 87.8 | 56 | 79.7 | 46.3 | 44.8 | 45.6 | 53.5 | 53.5 | 88.6 | 45.2 | 82.1 | 70.7 | 39.2 | 88.8 | 45.5 | 59.4 | 1 | 48.9 | 56.4 | 57.5 | |
| CLANTraining with depth data=false2023.11 | 87 | 27.1 | 79.6 | 27.3 | 23.3 | 28.3 | 35.5 | 24.2 | 83.6 | 27.4 | 74.2 | 58.6 | 28 | 76.2 | 33.1 | 36.7 | 6.7 | 31.9 | 31.4 | 43.2 | |
| CyCADATraining with depth data=false2023.11 | 86.7 | 35.6 | 80.1 | 19.8 | 17.5 | 38 | 39.9 | 41.5 | 82.7 | 27.9 | 73.6 | 64.9 | 19 | 65 | 12 | 28.6 | 4.5 | 31.1 | 42 | 42.7 | |
| AdaptSegNetTraining with depth data=false2023.11 | 86.5 | 36 | 79.9 | 23.4 | 23.3 | 23.9 | 35.2 | 14.8 | 83.4 | 33.3 | 75.6 | 58.5 | 27.6 | 73.7 | 32.5 | 35.4 | 3.9 | 30.1 | 28.1 | 42.4 | |
| SP-AdvTraining with depth data=false2023.11 | 86.2 | 38.4 | 80.8 | 25.5 | 20.5 | 32.8 | 33.4 | 28.2 | 85.5 | 36.1 | 80.2 | 60.3 | 28.6 | 78.7 | 27.3 | 36.1 | 4.6 | 31.6 | 28.4 | 44.3 | |
| APODATraining with depth data=false2023.11 | 85.6 | 32.8 | 79 | 29.5 | 25.5 | 26.8 | 34.6 | 19.9 | 83.7 | 40.6 | 77.9 | 59.2 | 28.3 | 84.6 | 34.6 | 49.2 | 8 | 32.6 | 39.6 | 45.9 |