Detailed results for all conditions
| Method | night all | night rain | overcast winter | sun | rain | snow | dawn | dusk | night | day all | overcast summer |
|---|---|---|---|---|---|---|---|---|---|---|---|
| Learning Robust Representation and Sequence Constraint（L1） | 1.9 / 6.5 / 23.3 | 1.8 / 5.9 / 19.1 | 5.4 / 28.5 / 89.7 | 9.6 / 25.9 / 80.4 | 10.7 / 36.8 / 92.2 | 9.8 / 29.4 / 83.0 | 10.4 / 36.9 / 84.5 | 10.7 / 34.8 / 88.8 | 2.1 / 7.1 / 27.6 | 9.0 / 31.9 / 86.4 | 6.5 / 31.3 / 87.9 |