Table 5.
ERF-PSPNet on the real-world dataset [71] in terms of terrain awareness. “Traversability”: Accuracy of the traversable area parsing. Depth information of sky is too sparse to calculate reasonable accuracy values at different ranges.
| Accuracy Term | Sky | Traversability | Ground | Sidewalk | Stairs | Water | Person | Car |
|---|---|---|---|---|---|---|---|---|
| IoU | 88.0% | 82.1% | 72.7% | 55.5% | 67.0% | 69.1% | 66.8% | 67.4% |
| Pixel-wise Accuracy | 95.3% | 93.1% | 81.2% | 93.1% | 90.1% | 86.3% | 90.8% | 93.1% |
| With Depth | N/A | 95.9% | 84.9% | 93.1% | 90.8% | 89.8% | 90.4% | 92.7% |
| Within 2 m | N/A | 96.0% | 76.9% | 95.0% | 91.9% | 96.2% | 97.7% | 94.3% |
| 2–3 m | N/A | 96.3% | 81.7% | 96.5% | 91.9% | 82.3% | 93.7% | 95.2% |
| 3–5 m | N/A | 96.2% | 87.4% | 94.5% | 89.4% | 76.9% | 93.6% | 90.8% |
| 5–10 m | N/A | 96.0% | 86.6% | 93.6% | 93.1% | 84.3% | 87.4% | 91.4% |