Detailed results for all conditions
| Method | urban | suburban | park | overcast | sunny | foliage | mixed foliage | no foliage | low sun | cloudy | snow |
|---|---|---|---|---|---|---|---|---|---|---|---|
| double-domain Adaptation Semantics（L1) | 18.9 / 44.9 / 89.3 | 7.5 / 23.9 / 85.1 | 8.7 / 29.8 / 81.9 | 13.1 / 35.1 / 87.2 | 11.4 / 31.2 / 83.3 | 11.2 / 30.8 / 84.0 | 12.5 / 34.5 / 87.1 | 10.4 / 32.5 / 85.9 | 11.2 / 32.5 / 84.7 | 11.3 / 32.4 / 89.3 | 9.1 / 31.9 / 79.7 |