Traversability Estimation on Campus
84.7IoUViTA
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| ViTAType=VFM (vision foundation model-based)2026.05 | 84.7 | 94.7 | 87.9 | |
| GeNIEType=VFM (vision foundation model-based)2026.05 | 81.9 | 81.1 | 98.9 | |
| SAM2 FTType=VFM (vision foundation model-based), Evaluation Protocol=FT (full fine-tuning)2026.05 | 78.7 | 79.5 | 98.8 | |
| ST-SegType=SS (semantic segmentation)2026.05 | 77.5 | 78 | 99.1 | |
| SegFormerType=SS (semantic segmentation)2026.05 | 77.4 | 78.4 | 98.4 | |
| Mask2FormerType=SS (semantic segmentation)2026.05 | 76.7 | 77.7 | 98.3 | |
| SAM2 FZType=VFM (vision foundation model-based), Evaluation Protocol=FZ (encoder frozen)2026.05 | 75.4 | 76 | 99 | |
| STEPPType=SELF (self-supervised traversability)2026.05 | 75.2 | 81.9 | 90.1 | |
| DINOv3 FTType=VFM (vision foundation model-based), Evaluation Protocol=FT (full fine-tuning)2026.05 | 64.6 | 70.4 | 88.7 | |
| GANavType=SS (semantic segmentation)2026.05 | 53.1 | 76.5 | 63.4 | |
| DINOv3 FZType=VFM (vision foundation model-based), Evaluation Protocol=FZ (encoder frozen)2026.05 | 43 | 63 | 57.5 |