Vehicle Segmentation on nuScenes Setting 2: 100m x 100m at 50cm resolution v1.0-trainval (val)
52.1mIoULiDAR2Map
Evaluation results
| Method | Links | |
|---|---|---|
| LiDAR2MapModality=LiDAR, Backbone=PointPillars, #Params(M)=8.8, FPS=352023.04 | 52.1 | |
| SimpleBEVImage Size=800×448, Modality=Camera, Backbone=ResNet-101, #Params(M)=37, FPS=7.32023.04 | 47.4 | |
| PolarBEVImage Size=960×448, Modality=Camera, Backbone=EfficientNet-B4, #Params(M)=7.4, FPS=102023.04 | 41.2 | |
| TransFuseGridImage Size=352×128, Modality=Camera & LiDAR, Backbone=EfficientNet-B0 & PointPillars, FPS=18.42023.04 | 35.9 | |
| FIERY StaticImage Size=448x224, Modality=Camera, Backbone=EfficientNet-B4, #Params(M)=7.4, FPS=82023.04 | 35.8 | |
| Lift-SplatImage Size=352×128, Modality=Camera, Backbone=EfficientNet-B0, #Params(M)=14, FPS=252023.04 | 32.1 | |
| Pillar feature NetModality=LiDAR, Backbone=PointPillars2023.04 | 23.4 |