From: Pseudo-labelling-aided semantic segmentation on sparsely annotated 3D point clouds
Method | OA (%) | AF (%) | Per-class I-scores(%) | ||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|
(i) | (ii) | (iii) | (iv) | (v) | (vi) | (vii) | (viii) | (ix) | (x) | (xi) | |||
Pointwise [1] | 18.8 | 16.8 | 15.3 | 0.1 | 18.0 | 27.5 | 7.5 | 8.4 | 49.9 | 18.3 | 18.4 | 21.0 | 0.9 |
CRF-reg [22] | 35.6 | 25.6 | −∗1 | −∗2 | 48.9 | 53.3 | 2.6 | −∗1 | 94.9 | 11.3 | 39.2 | 31.2 | 0.2 |
Seg-aided [17] | 42.1 | 34.0 | 52.6 | −∗2 | 72.4 | 47.1 | −∗2 | −∗2 | 94.1 | 26.6 | 49.5 | 31.0 | 1.1 |
Supervised baseline | 34.8 | 30.5 | 27.5 | 47.9 | 23.5 | 26.7 | 19.2 | 34.2 | 60.2 | 25.9 | 29.1 | 24.7 | 16.1 |
Ours no kdist | 31.7 | 28.5 | 32.2 | 46.2 | 31.8 | 31.8 | 22.9 | 36.5 | 28.4 | 32.5 | 29.2 | 4.2 | 18.0 |
Ours with kdist | 49.8 | 44.3 | 31.7 | 73.8 | 35.3 | 38.1 | 31.1 | 59.2 | 74.1 | 40.9 | 46.7 | 20.9 | 29.0 |
*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 |