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}
}