Table 2.
Main results (IoU) on the NuScenes dataset.
| Method | Dri. | Bar. | Ped.C. | Wal. | Carp. | Car | Truck | Bus | Tra. | Con.V. | Ped. | Mot. | Bic. | Tra.C. | Mean |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| R-FPN + IPM | 53.7 | 5.1 | 14.9 | 16.3 | 14.7 | 11.2 | 5.8 | 9.7 | 11.1 | 8.2 | 2.4 | 2.7 | 2.1 | 3.9 | 11.6 |
| VPN (Pan et al., 2020) | 58 | 10.8 | 27.3 | 29.4 | 12.9 | 25.5 | 17.3 | 20 | 16.6 | 4.9 | 7.1 | 5.6 | 4.4 | 4.6 | 17.5 |
| L-S-S (Philion and Fidler, 2020) | 60.2 | 10.9 | 26.6 | 31.1 | 17.6 | 24.2 | 16.5 | 20.3 | 15.4 | 10.8 | 7.5 | 5.8 | 7.2 | 5.9 | 18.5 |
| DPT (Roddick and Cipolla, 2020) | 60.4 | 8.1 | 28 | 31 | 18.4 | 24.7 | 16.8 | 20.8 | 16.6 | 12.3 | 8.2 | 7 | 9.4 | 5.7 | 19.1 |
| Proposed | 61.1 | 11.9 | 28.7 | 32.7 | 19.2 | 25.8 | 17.4 | 20.6 | 16.9 | 12.3 | 8.3 | 7.3 | 9.8 | 6.6 | 19.9 |
A larger value indicates better performance.