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Benchmark Suite – Cityscapes Datase

name fine coarse 16-bit depth


HRNetV2 + OCR (w/ ASP) yes yes no no
iFLYTEK-CV yes yes no no
Improving Semantic Segmentation via Video Propagation and Labyes yes no no
GALD-Net yes yes yes yes
HRNetV2 + OCR yes yes no no
NV-ADLR yes yes no no
GGCF yes yes no no
GALD-net yes yes no no
Tencent AI Lab yes yes no no
DRN_CRL_Coarse yes yes no no
NAVINFO_DLR yes yes no no
Gated-SCNN yes no no no
Valeo DAR Germany yes yes no no
DPC yes yes no no
SRC-B-MachineLearningLab yes yes no no
RelationNet_Coarse yes yes no no
SSMA yes yes no yes
GFF-Net yes no no no
DDAR yes yes no no
DeepLabv3+ yes yes no no
Auto-DeepLab-L yes yes no no
Fast OCNet yes no no no
Mapillary Research: In-Place Activated BatchNorm yes yes no no
DGCNet yes no no no
SR-AIC yes yes no no
EFBNET yes no no no
HRNetV2 yes no no no
dpcan_trainval_os16_225 yes no no no
CASIA_IVA_DANet_NoCoarse yes no no no
iFLYTEK-CV yes yes no no
DeepMotion yes no no no
motovis yes yes no no
DeepLabv3 yes yes no no
AdapNet++ yes yes no no
PSPNet yes yes no no
L2-SP yes yes no no
OCNet_ResNet101_fine yes no no no
tek-Ifly yes no no no
MCDN yes no no no
navi yes no no no
GLNet_fine yes no no no
ResNet-38 yes yes no no
LDN-161 yes no no no
NetWarp yes yes no no
MapillaryAI_ROB yes no no no
PGCNet_Res101_fine yes no no no
DFN yes yes no no
EFC_sync yes no no no
TuSimple_Coarse yes yes no no
TKCN yes no no no
Knowledge-Aware yes no no no
LDN-121 yes no no no
SANet yes no no no
SegModel yes yes no no
Roadstar.ai_CV(SFNet) yes no no no
Adaptive Affinity Field on PSPNet yes no no no
SegModel yes no no no
Multitask Learning yes no no no
ResNet-38 yes no no no
Ladder DenseNet v2 yes no no no
depthAwareSeg_RNN_f yes no no no
SAC-multiple yes no no no
LDN2_ROB yes no no no
TuSimple yes no no no
Global-Local-Refinement yes no no no
SAIT yes yes no no
EdgeSenseSeg yes no no no
MSNET yes no no no
SwiftNetRN-18 ensemble yes no no no
K-net yes no no no
RRR-ResNet152-MultiScale yes yes no no
SwiftNetRN-18 yes no no no
PEARL yes no no no
SU_Net no no no no
DF-Seg yes no no no
ScaleNet yes yes no no
IBN-PSP-SA_ROB yes no no no
EnsembleModel_Bosch yes no no no
SwiftNetRN-18 pyramid yes no no no
Ladder DenseNet yes no no no
FoveaNet yes no no no
MaskRCNN_BOSH yes no no no
RefineNet yes no no no
ARSAIT yes no no no
XPARSE yes no no no
NfS-Seg yes yes no yes
SAITv2-light yes yes no no
Real-time FCN yes yes no no
ALV303 yes no no no
MNet_MPRG yes no no no
m-TCFs yes yes no no
LRR-4x yes yes no no
FRRN yes no no no
Adelaide_context yes no no no
DF-Seg yes no no no
LDFNet yes no no yes
ML-CRNN yes no no no
Deep Layer Cascade (LC) yes no no no
Edgenet yes no no no
MobileNetV2Plus yes no no no
RFMobileNetV2Plus yes no no no
AHiSS_ROB yes yes no no
DeepLabv2-CRF yes no no no
GUNet yes no no no
ShuffleNet v2 + DPC yes yes no no
SAITv2 yes yes no no
GridNet yes no no no
EVANet yes no no no
ERINet yes no no no
LRR-4x yes no no no
ERFNet (pretrained) yes no no no
GridNet yes no no no
DSNet yes yes no no
NCTU-ITRI yes no no no
PL-Seg yes no no no
Spatial Sampling Net yes no no no
RPNet yes no no no
firenet yes no no no
ERFNet (from scratch) yes no no no
Fast-SCNN yes yes no no
MiniNet-v2-pretrained yes yes no no
MiniNet-v2-coarse yes yes no no
ERSNet-coarse yes yes no no
NVSegNet yes no no no
RGB-D FCN yes yes no yes
pruned & dilated inception-resnet-v2 (PD-IR2) yes yes no no
EDANet yes no no no
Dilation10 yes no no no
DPN yes no no no
Adelaide yes no no no
VENUS_ROB yes no no no
Scale invariant CNN + CRF yes no no yes
ESPNetv2 yes no no no
ContextNet yes no no no
Le_Selfdriving_VGG yes no no no
Hybrid Model yes no no no
FCN 8s yes no no no
DeepLab LargeFOV StrongWeak yes yes no no
CGNet yes no no no
ndnet yes no no no
DeepLab+DynamicCRF yes no no no
RMNet yes no no no
ADSCNet yes no no no
Pixel-level Encoding for Instance Segmentation yes no no yes
ThunderNet yes no no no
AdapNetv2_ROB yes no no no
CLRCNet yes no no no
DeepLab LargeFOV Strong yes no no no
ENet with the Lovász-Softmax loss yes no no no
GoogLeNet FCN yes no no no
Fast-SCNN (Half-resolution) yes yes no no
VlocNet++_ROB no no no no
CRFasRNN yes no no no
SkipNet-MobileNet yes yes no no
ESPNet yes no no no
SQ yes no no no
GoogLeNetV1_ROB yes no no no
MultiBoost yes yes no yes
DPN yes yes no no
HiSS_ROB yes no no no
ENet yes no no no
ShuffleSeg yes yes no no
FCN8s-QunjieYu yes no no no
Segnet basic yes no no no
APMoE_seg_ROB yes no no no
Segnet extended yes no no no
BatMAN_ROB yes yes no no
Fast-SCNN (Quarter-resolution) yes no no no
Deform_ResNet_Balanced yes no no no
MiniNet yes no no no
FCN101_ROB yes no no no
RFLR yes yes yes no
chmark Suite – Cityscapes Dataset
video sub IoU class iIoU class IoU category iIoU category Runtime [s] code
no no 83.7 64.8 92.4 83.5 n/a yes
no no 83.6 64.7 92.1 82.3 n/a no
yes no 83.5 64.4 92.2 82 n/a yes
no no 83.3 64.5 92.3 81.9 n/a yes
no no 83.3 62 92.1 81.7 n/a yes
no no 83.2 64.2 92.1 82.2 n/a no
no no 83.2 63 92 81.3 n/a no
no no 83.1 63.5 92.2 81.4 n/a yes
no no 82.9 63.9 91.8 80.4 n/a no
no no 82.8 61.1 91.8 80.7 n/a yes
no no 82.8 63.1 91.9 82.2 n/a no
no no 82.8 64.3 92.3 82.7 n/a yes
no no 82.8 62.9 92 82.2 n/a no
no no 82.7 63.3 92 82.5 n/a yes
no no 82.5 60.7 91.8 81.5 n/a no
no no 82.4 61.9 91.8 81.4 n/a no
no no 82.3 62.3 91.5 81.7 n/a yes
no no 82.3 62.1 92 81.4 n/a no
no no 82.2 62.7 91.9 81.5 n/a no
no no 82.1 62.4 92 81.9 n/a yes
no no 82.1 61 91.9 82 n/a yes
no no 82.1 61 91.7 80.7 n/a no
no no 82 65.9 91.2 81.7 n/a yes
no no 82 61.7 91.8 81.1 n/a no
no no 81.9 60.7 91.3 79.6 n/a no
no no 81.8 59.9 90.7 78.8 n/a no
no no 81.8 61.2 92.2 82.1 n/a yes
no no 81.6 61.1 91.7 81.1 n/a no
no no 81.5 62.3 91.6 82.6 n/a yes
no no 81.4 60.9 91 79.5 n/a no
no no 81.4 58.6 90.7 78.1 n/a no
no no 81.3 57.7 91.5 80.7 n/a no
no no 81.3 62.1 91.6 81.7 n/a no
no no 81.3 59.5 91 80.1 n/a yes
no no 81.2 59.6 91.2 79.2 n/a yes
no no 81.2 58.1 91 78.5 n/a yes
no no 81.2 61.3 91.6 81.1 n/a no
no no 81.1 60.1 90.9 79.6 n/a no
no no 81.1 62.4 91.5 81.2 n/a no
no no 81 60.1 91.2 79.1 n/a no
no no 80.8 58.3 91.3 79.5 n/a no
no no 80.6 57.8 91 79.1 n/a yes
no no 80.6 56.4 91.3 79.1 2 no
yes no 80.5 59.5 91 79.8 n/a no
no no 80.5 60.1 91.1 80.2 n/a no
no no 80.5 60.7 91.5 81.1 n/a no
no no 80.3 58.3 90.8 79.6 n/a no
yes no 80.2 56.7 90.9 77.8 n/a no
no no 80.1 56.9 90.7 77.8 n/a yes
no no 79.5 61.3 91.1 81.5 n/a yes
no no 79.3 55.6 90.7 78 n/a no
no no 79.3 54.7 90.7 78.4 0.048 no
no no 79.3 55.3 90.6 78.2 n/a no
no no 79.2 56.4 90.4 77 n/a no
no no 79.2 60.8 91 82.6 0.2 no
no no 79.1 56.1 90.8 78.5 n/a yes
no no 78.5 56.1 89.8 75.9 0.8 no
no no 78.5 57.4 89.9 77.7 n/a no
no no 78.4 59.1 90.9 81.1 n/a yes
no no 78.4 54.6 90.8 78.7 1 no
no no 78.2 56 89.7 76.9 n/a yes
no no 78.1 55.2 90.6 78.3 n/a no
no no 77.9 52.3 90.1 77.1 1 no
no no 77.6 53.6 90.1 75.2 n/a yes
no no 77.3 53.4 90 76.8 n/a no
no no 76.9 51.8 89.6 75.5 4 no
no no 76.8 57.1 89.8 78.5 n/a no
no no 76.8 57.1 90.6 81.6 0.2 no
no no 76.5 51.4 90.1 76.5 n/a no
no no 76 52.8 88.8 75.4 n/a no
no no 75.8 48.5 89.3 74 n/a no
no no 75.5 52 89.8 77.2 0.0243 no
yes no 75.4 51.6 89.2 75.1 n/a no
no no 75.3 52.3 88.5 75 n/a no
no no 75.3 50.2 89.2 73.3 0.018 no
no no 75.1 53.1 89.6 76.8 n/a no
no no 75.1 46.3 89.1 72 n/a no
no no 74.4 48.9 88.5 72.9 n/a no
no no 74.4 48.4 89.5 74.6 n/a no
no no 74.3 51.6 89.7 79.5 0.45 yes
no no 74.1 52.4 89.3 77.6 n/a no
no no 73.9 48.5 87.2 70 n/a no
no no 73.6 47.2 87.9 70.6 n/a yes
no no 73.6 48.2 89 74.8 1 no
no no 73.4 49.2 88.7 74.2 n/a no
yes no 73.1 44.4 87.5 70.1 0.00837312 no
no no 73 44 87.4 69.4 0.025 no
no no 72.6 45.5 87.9 71.6 0.044 no
no no 72.2 52 89.8 79.2 0.2 no
no no 71.9 46.6 89.3 77.9 0.6 no
no no 71.8 43.6 87.6 70.6 1 no
no no 71.8 47.9 88.4 73.9 n/a yes
no 2 71.8 45.5 88.9 75.1 n/a yes
no no 71.6 51.7 87.3 74.1 n/a no
no no 71.4 45 86.6 69.6 0.007 yes
no 2 71.3 46.3 88.5 74.2 n/a yes
no no 71.2 47.1 87.7 72.5 n/a no
no no 71.1 47 88.1 74.1 n/a no
no 2 71 46.6 88.5 75 0.03 no
no no 70.7 46.8 87.6 72.9 n/a no
no no 70.7 49.4 88.3 75.8 n/a no
no 2 70.6 39.8 84.2 62.9 0.06 no
no no 70.4 42.6 86.4 67.7 n/a yes
no 2 70.4 40.8 86.8 69.1 0.03 no
no no 70.3 43.6 86.5 69.9 n/a yes
no no 70 36.5 84.5 62.1 0.025 no
no no 69.8 44.5 88.1 71.4 n/a yes
no no 69.8 44 87.7 73.1 n/a no
no 2 69.8 44.1 87.4 73.4 0.023 no
no no 69.7 48 88.2 74.7 n/a yes
no 2 69.7 44.1 87.3 72.7 0.02 yes
no no 69.5 44.1 87.9 71.1 n/a no
no 2 69.3 42.8 86 70.7 0.027 yes
no 2 69.1 41.4 86.8 70.8 0.0147 no
no no 69.1 41.2 86.4 67.7 0.0192 yes
no 2 68.9 39 85.9 66.5 0.00884 no
no 2 68.3 43.6 86.8 72.3 0.008 yes
no 2 68.2 47.8 84.9 75.5 n/a no
no 2 68 40.4 86.5 70.4 0.02 yes
no no 68 37.9 84.7 63.5 0.0081 no
no 2 68 39.7 86.2 68.4 0.012 no
no 2 67.8 39.2 86.1 68.3 0.012 no
no 4 67.6 39.2 85.9 67.8 0.012 no
no no 67.4 41.4 87.2 68.1 0.4 no
no no 67.4 42.1 87.5 71 n/a no
no no 67.3 42.1 86.5 68.3 0.69 yes
no 2 67.3 41.8 85.8 69.9 0.0092 yes
no no 67.1 42 86.5 71.1 4 yes
no no 66.8 39.1 86 69.1 n/a no
no no 66.4 46.7 82.8 67.4 35 no
no no 66.4 37.1 84.5 66.7 n/a no
no no 66.3 44.9 85 71.2 n/a yes
no 2 66.2 36 84.3 66.3 n/a yes
no no 66.1 36.8 82.8 64.3 0.0238 no
no no 65.9 35.6 84.4 64.3 n/a no
no no 65.8 41.2 85.2 68.5 n/a no
no no 65.3 41.7 85.7 70.1 0.5 yes
no 2 64.8 34.9 81.3 58.7 4 yes
no no 64.8 35.9 85.7 67.5 0.02 yes
no no 64.8 34.7 84.5 64.7 0.024 no
no no 64.5 38.3 83.7 62.4 n/a no
no no 64.5 37.3 84.6 67.7 0.014 no
no no 64.5 36.8 84.9 68.7 0.013 no
no no 64.3 41.6 85.9 73.9 n/a no
no 2 64 40.4 84.1 69.3 0.0104 no
no no 63.8 34.9 84.3 62.4 n/a no
no no 63.3 35.9 84.4 68 0.013 no
no 2 63.1 34.5 81.2 58.7 4 yes
no 2 63.1 34.1 83.6 61 0.013 yes
no no 63 38.6 85.8 69.8 n/a no
no 2 62.8 31.9 80.5 57.1 0.0035 no
no no 62.7 33.9 83.4 60.8 n/a no
no 2 62.5 34.4 82.7 66 0.7 yes
no no 61.5 35.2 82 63 n/a no
no 2 60.3 31.8 82.2 63.1 0.0089 yes
no no 59.8 32.3 84.3 66 0.06 no
no no 59.6 35.1 83 64.4 n/a no
no 2 59.3 32.5 81.9 60.2 0.25 no
no 3 59.1 28.1 79.5 57.9 n/a no
no 2 58.9 32.1 81.4 60.5 0.06 no
no 2 58.3 34.4 80.4 64 0.013 yes
no no 58.3 32.4 80.2 62.2 n/a no
no no 57.4 34.5 81.8 68.7 n/a no
no 4 57 32 79.1 61.9 0.06 yes
no no 56.5 30.6 83.5 66.1 0.9 yes
no 4 56.1 34.2 79.8 66.4 0.06 yes
no no 55.4 29.3 83.9 65 1 no
no 4 51.9 23 74.2 48.2 0.00206 no
no no 51.3 31.2 78 63.2 0.258 no
no 4 40.7 15.8 70.5 44.8 0.004 no
no no 30.4 11.3 61.1 38.5 n/a no
no 4 30 7.8 60.2 22.6 0.03 no