Given one or more lidar range images and the associated camera images, produce a semantic class label for each lidar point.
To submit your entry to the leaderboard, upload your file in the format specified in the SemanticSegmentationSubmission proto . You can only submit against the Test Set 3 times every 30 days. (Submissions that error out do not count against this total.)
For the 3D Semantic Segmentation challenge, your submission file should be a binary file of the SemanticSegmentationSubmission proto. See the tutorial_3d_semseg.ipynb for an example.
To submit for evaluation against the Validation Set, upload your file here. You may submit against the Validation Set as many times as you like.
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.
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
See the Official Challenge Rules here.