3D Semantic Segmentation
Overview
Given one or more lidar range images and the associated camera images, produce a semantic class label for each lidar point.
Note: On 2023-12-08, we fixed several small errors in the 3D semantic segmentation ground truth labels, especially for the class of motorcyclist. We used the new ground truth labels to refresh the results of all existing submission In both test and validation.
Leaderboard
Disqualified from the 2022 Waymo Open Dataset Challenge
Submit
Submissions for this version of the challenge are closed. You can submit to the 2024 version of the 3D Semantic Segmentation challenge.
Metrics
Mean Intersection Over Union (mIOU)
We adopt the Intersection Over Union (IOU) metric, which is defined as follows:
IOU = true_positive / (true_positive + false_positive + false_negative)
The IOU score is computed for each class. The mIOU is calculated as the mean across all classes.
Metric breakdown
In the leaderboard, we also list IOU scores for each class for detailed comparison among methods.
The 23 classes includes: Car, Truck, Bus, Motorcyclist, Bicyclist, Pedestrian, Sign, Traffic Light, Pole, Construction Cone, Bicycle, Motorcycle, Building, Vegetation, Tree Trunk, Curb, Road, Lane Marker, Walkable, Sidewalk, Other Ground, Other Vehicle, Undefined
Rules Regarding Awards
See the Official Challenge Rules here.