Semantic Segmentation on semanticKITTI SynLiDAR source (val)
53.58mIoU (Mean IoU)Ours
Evaluation results
| Method | Links | |||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Oursannotation_ratio=10%, pre-training=nuScenes2024.12 | 53.58 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SuperFlowannotation_ratio=10%, pre-training=nuScenes2024.12 | 51.38 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Sealannotation_ratio=10%, pre-training=nuScenes2024.12 | 49.26 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SLidRannotation_ratio=10%, pre-training=nuScenes2024.12 | 47.84 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Oursannotation_ratio=1%, pre-training=nuScenes2024.12 | 46.95 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PPKTannotation_ratio=10%, pre-training=nuScenes2024.12 | 46.48 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SuperFlowannotation_ratio=1%, pre-training=nuScenes2024.12 | 44.85 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Randomannotation_ratio=10%, pre-training=nuScenes2024.12 | 44.74 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Sealannotation_ratio=1%, pre-training=nuScenes2024.12 | 43.58 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DGT-STMechanism=Self-training2024.03 | 43.1 | 92.9 | 17.3 | 43.4 | 15 | 6.1 | 49.2 | 54.2 | 4.2 | 86.4 | 19.1 | 62.3 | 0 | 78.2 | 9.2 | 83.3 | 56 | 59.1 | 51.2 | 32.3 | 22.7 | |
| SLidRannotation_ratio=1%, pre-training=nuScenes2024.12 | 42.05 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PPKTannotation_ratio=1%, pre-training=nuScenes2024.12 | 37.57 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PCANMechanism=Adversarial training2024.03 | 37 | 85 | 17.5 | 27.4 | 10.4 | 11.9 | 27.5 | 63.7 | 2.6 | 78.1 | 13.5 | 50.1 | 0.1 | 68.5 | 20 | 76.2 | 41.3 | 45.7 | 41 | 21.8 | 16.6 | |
| LaserMixMechanism=Self-training2024.03 | 36 | 90.3 | 7.8 | 37.2 | 2.3 | 2.4 | 40.6 | 49.1 | 5.1 | 80.5 | 9.9 | 57.4 | 0 | 57.6 | 3.4 | 77.6 | 46.6 | 60.1 | 42 | 13.6 | 15.6 | |
| PMANMechanism=Adversarial training2024.03 | 33.7 | 71 | 14.9 | 24.8 | 1.6 | 6.6 | 23.6 | 61.1 | 5.5 | 75.3 | 10.5 | 54.1 | 0.1 | 47.9 | 17.4 | 69.6 | 38.6 | 61.5 | 37 | 18.6 | 13.3 | |
| UniMixadaptation_type=Unsupervised Domain Adaptation2024.04 | 33.7 | 80.3 | 6.1 | 32.5 | 29.2 | 10.6 | 23.7 | 30 | 24.5 | 62.2 | 15.9 | 46.5 | 0.1 | 60.9 | 15.8 | 70.7 | 34.9 | 41.2 | 38.6 | — | — | |
| PolarMixMechanism=Self-training2024.03 | 31 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 10.6 | |
| CosMixadaptation_type=Unsupervised Domain Adaptation2024.04 | 31 | 75.1 | 6.8 | 29.4 | 27.1 | 11.1 | 22.1 | 25 | 24.7 | 79.3 | 14.9 | 46.7 | 0.1 | 53.4 | 13 | 67.7 | 31.4 | 32.1 | 37.9 | — | — | |
| PolarMixadaptation_type=Unsupervised Domain Adaptation2024.04 | 31 | 76.3 | 8.4 | 17.8 | 3.9 | 6 | 26.6 | 40.8 | 15.9 | 70.3 | 0 | 44.4 | 0 | 68.4 | 14.7 | 69.6 | 38.4 | 37.1 | 40.6 | — | — | |
| CLANMechanism=Adversarial training2024.03 | 30.5 | 51 | 15.8 | 16.8 | 2.2 | 7.8 | 18.7 | 46.8 | 3 | 68.9 | 11.1 | 44.9 | 0.1 | 59.6 | 17.5 | 71.7 | 41.1 | 44 | 37.7 | 19.8 | 10.1 | |
| ADVENTMechanism=Adversarial training2024.03 | 30.5 | 59.9 | 13.8 | 14.6 | 3 | 8 | 17.7 | 45.8 | 3 | 67.6 | 11.3 | 45.6 | 0.1 | 61.7 | 15.8 | 72.4 | 41.5 | 47 | 34.5 | 15.3 | 10.1 | |
| CoSMixMechanism=Self-training2024.03 | 29.9 | 56.4 | 10.2 | 20.8 | 2.1 | 13 | 25.6 | 41.3 | 2.2 | 67.4 | 8.2 | 43.4 | 0 | 57.9 | 12.2 | 68.4 | 44.8 | 35 | 42.1 | 17 | 9.5 | |
| ST-PCTadaptation_type=Unsupervised Domain Adaptation2024.04 | 28.9 | 70.8 | 7.3 | 13.1 | 1.9 | 8.4 | 12.6 | 44 | 0.6 | 56.4 | 4.5 | 31.8 | 0 | 66.7 | 23.7 | 73.3 | 34.6 | 48.4 | 39.4 | — | — | |
| MRNetMechanism=Adversarial training2024.03 | 28.3 | 49.5 | 11 | 12.2 | 2.2 | 8.6 | 16 | 46.4 | 2.7 | 60 | 10.5 | 41.9 | 0.1 | 55.1 | 16.5 | 68.1 | 38 | 40.7 | 36.5 | 20.8 | 7.9 | |
| AdaptSegNetMechanism=Adversarial training2024.03 | 27.9 | 52.1 | 10.8 | 11.2 | 2.6 | 9.6 | 15.1 | 35.9 | 2.6 | 62.2 | 10.4 | 41.3 | 0.1 | 58.1 | 17.1 | 68 | 38.4 | 38.7 | 35.9 | 20.4 | 7.5 | |
| STadaptation_type=Unsupervised Domain Adaptation2024.04 | 26.5 | 62 | 5 | 12.4 | 1.3 | 9.2 | 16.7 | 44.2 | 0.4 | 53 | 2.5 | 28.4 | 0 | 57.1 | 18.7 | 69.8 | 35 | 48.7 | 32.5 | — | — | |
| Ent-Minadaptation_type=Unsupervised Domain Adaptation2024.04 | 25.8 | 58.3 | 5.1 | 14.3 | 0.3 | 1.8 | 14.3 | 44.5 | 0.5 | 50.4 | 4.3 | 34.8 | 0 | 48.3 | 19.7 | 67.5 | 34.8 | 52 | 33 | — | — | |
| FADAMechanism=Adversarial training2024.03 | 25.6 | 49.9 | 6.7 | 5.1 | 2.5 | 10 | 5.7 | 26.6 | 2.3 | 65.8 | 10.8 | 37.8 | 0.1 | 60.3 | 21.5 | 60.4 | 37.2 | 31.9 | 35.4 | 17.4 | 5.2 | |
| PCTadaptation_type=Unsupervised Domain Adaptation2024.04 | 23.9 | 53.4 | 5.4 | 7.4 | 0.8 | 10.9 | 12 | 43.2 | 0.3 | 50.8 | 3.7 | 29.4 | 0 | 48 | 10.4 | 68.2 | 33.1 | 40 | 29.5 | — | — | |
| ADDAadaptation_type=Unsupervised Domain Adaptation2024.04 | 23 | 52.5 | 4.5 | 11.9 | 0.3 | 3.9 | 9.4 | 27.9 | 0.5 | 52.8 | 4.9 | 27.4 | 0 | 61 | 17 | 57.4 | 34.5 | 42.9 | 23.2 | — | — | |
| Source only2024.03 | 20.4 | 35.9 | 7.5 | 10.7 | 0.6 | 2.9 | 13.3 | 44.7 | 3.4 | 21.8 | 6.9 | 29.6 | 0 | 34.1 | 7.4 | 62.9 | 26 | 35.5 | 30.3 | 14.1 | 0 | |
| Source-onlyadaptation_type=None2024.04 | 20.4 | 42 | 5 | 4.8 | 0.4 | 2.5 | 12.4 | 43.3 | 1.8 | 48.7 | 4.5 | 31 | 0 | 18.6 | 11.5 | 60.2 | 30 | 48.3 | 19.3 | — | — | |
| Randomannotation_ratio=1%, pre-training=nuScenes2024.12 | 19.89 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — |