Table 4 Semantic segmentation results on the S3DIS dataset (with RGB)
From: Pseudo-labelling-aided semantic segmentation on sparsely annotated 3D point clouds
Method | OA (%) | AF (%) | Per-class F-scores(%) | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
(i) | (ii) | (iii) | (iv) | (v) | (vi) | (vii) | (viii) | (ix) | (x) | (xi) | |||
Pointwise [1] | 42.7 | 39.0 | 33.7 | 67.2 | 52.6 | 42.4 | 16.1 | 27.5 | 67.0 | 14.7 | 40.4 | 37.5 | 29.7 |
CRF-reg [22] | 62.2 | 61.4 | 74.4 | 93.3 | 85.5 | 62.9 | 46.4 | 83.3 | 86.3 | 22.2 | 52.0 | 43.6 | 25.1 |
Seg-aided [17] | 62.2 | 61.7 | 82.7 | 93.8 | 80.1 | 67.9 | 72.4 | 98.1 | 98.5 | −∗1 | 59.2 | 25.7 | −∗2 |
Supervised baseline | 56.1 | 55.0 | 59.1 | 54.9 | 59.9 | 45.3 | 43.6 | 67.6 | 82.2 | 47.5 | 45.3 | 68.5 | 30.7 |
Ours no kdist nor krgb | 54.1 | 52.3 | 50.5 | 53.1 | 54.6 | 48.0 | 46.6 | 56.7 | 85.6 | 37.6 | 50.5 | 68.1 | 24.1 |
Ours with kdist no krgb | 71.9 | 72.2 | 79.4 | 82.1 | 73.6 | 77.3 | 54.0 | 86.9 | 87.4 | 61.4 | 66.4 | 78.0 | 47.5 |
Ours with kdist and krgb | 74.5 | 75.1 | 74.2 | 82.3 | 75.7 | 77.6 | 69.2 | 84.2 | 89.7 | 59.0 | 67.5 | 89.8 | 56.6 |
*1 no instances of class are predicted correctly; precision=0, recall=0 - F-score undefined, taken to be 0 for the average | |||||||||||||
*2 no instances of class are predicted at all; precision undefined, recall=0 - F-score undefined, taken to be 0 for average | |||||||||||||