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Main results (IoU) on the Argoverse 3D dataset.
| Method | Dri. | Bus | Tra. | L.Veh. | Ped. | Mot. | Bic. | Veh. | Mean |
|---|---|---|---|---|---|---|---|---|---|
| R-FPN + IPM | 54.2 | 5.2 | 0.3 | 8.5 | 2.7 | 0.8 | 0.2 | 15.8 | 11 |
| VPN (Pan et al., 2020) | 64.9 | 3 | 0.4 | 9.7 | 6.2 | 1.9 | 0.9 | 23.9 | 13.9 |
| L-S-S (Philion and Fidler, 2020) | 65.2 | 13.7 | 1.8 | 11.7 | 8 | 5.7 | 3.4 | 30.8 | 17.5 |
| DPT (Roddick and Cipolla, 2020) | 65.4 | 11 | 0.7 | 11.1 | 7.4 | 5.7 | 3.6 | 31.4 | 17 |
| Proposed | 66 | 17.5 | 2.9 | 13.8 | 8.6 | 6.4 | 4.2 | 33.7 | 19.1 |
A larger value indicates better performance.
