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RoboBEV Benchmark

TPVFormer

Corruption mIoU pts mIoU vox
Clean 26.84 52.06
Cam Crash 13.65 27.39
Frame Lost 11.91 22.85
Color Quant 21.49 38.16
Motion Blur 20.79 38.64
Brightness 25.76 49.00
Low Light 19.78 37.38
Fog 24.78 46.69
Snow 9.49 19.39

Experiment Log

Camera Crash

| Severity | mIoU pts | mIoU vox | | :----------: | :-----: | | | | Easy | 18.76 | 37.49 | | Moderate | 9.19 | 19.88 | | Hard | 13.01 | 24.82 | | Average | 13.65 | 27.39 |

Frame Lost

| Severity | mIoU pts | mIoU vox | | :----------: | :-----: | | | | Easy | 19.55 | 37.53 | | Moderate | 10.51 | 20.13 | | Hard | 5.69 | 10.89 | | Average | 11.91 | 22.85 |

Color Quant

| Severity | mIoU pts | mIoU vox | | :----------: | :-----: | | | | Easy | 26.30 | 49.76 | | Moderate | 23.36 | 40.73 | | Hard | 14.83 | 23.99 | | Average | 21.49 | 38.16 |

Motion Blur

| Severity | mIoU pts | mIoU vox | | :----------: | :-----: | | | | Easy | 25.70 | 48.04 | | Moderate | 20.03 | 36.77 | | Hard | 16.66 | 31.13 | | Average | 20.79 | 38.64 |

Brightness

| Severity | mIoU pts | mIoU vox | | :----------: | :-----: | | | | Easy | 26.48 | 51.17 | | Moderate | 25.89 | 49.34 | | Hard | 24.91 | 46.51 | | Average | 25.76 | 49.00 |

Low Light

| Severity | mIoU pts | mIoU vox | | :----------: | :-----: | | | | Easy | 23.44 | 44.20 | | Moderate | 20.39 | 38.31 | | Hard | 15.53 | 29.65 | | Average | 19.78 | 37.38 |

Fog

| Severity | mIoU pts | mIoU vox | | :----------: | :-----: | | | | Easy | 25.30 | 48.04 | | Moderate | 24.92 | 47.10 | | Hard | 24.12 | 44.95 | | Average | 24.78 | 46.69 |

Snow

| Severity | mIoU pts | mIoU vox | | :----------: | :-----: | | | | Easy | 14.50 | 28.52 | | Moderate | 7.34 | 15.51 | | Hard | 6.64 | 14.16 | | Average | 9.49 | 19.39 |

References

@inproceedings{huang2023tri,
  title={Tri-perspective view for vision-based 3d semantic occupancy prediction},
  author={Huang, Yuanhui and Zheng, Wenzhao and Zhang, Yunpeng and Zhou, Jie and Lu, Jiwen},
  booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
  pages={9223--9232},
  year={2023}
}