huixiancheng / My_BAAF_with_SemanticKITTI

Semantic Segmentation for Real Point Cloud Scenes via Bilateral Augmentation and Adaptive Fusion

Semantic Segmentation for Real Point Cloud Scenes via Bilateral Augmentation and Adaptive Fusion (CVPR 2021)

• My personal experimental implementation. Since the original Repo missing this part.
• SemanticKITTI part of the code borrowed from RandLA-Net, and almost identical.
• Mostly same as original Repo.

Usage:

Please refer to the two repo mentioned above.

Performance Comparison:

On the validation set, the results are close to those reported by the original Repo.

Model	mIoU	car	bicycle	motorcycle	truck	other-vehicle	person	bicyclist	motorcyclist	road	parking	sidewalk	other-ground	building	fence	vegetation	trunk	terrain	pole	traffic-sign
Original Repo Report	58.71	94.75	12.41	52.01	80.57	46.41	59.77	75.02	0.01	93.11	44.72	80.74	2.56	89.84	51.45	87.09	66.55	77.33	57.92	43.23
Ours	58.83	94.54	11.29	50.35	87.36	52.44	59.05	73.08	0.00	93.24	46.84	81.05	1.31	89.33	48.42	86.30	66.49	77.44	57.30	42.02

Log	Pretrain-model	Our Validation results	Original Repo Validation results
Link	Link	Link	Link