Detailed results for all conditions
| Method | night all | night rain | overcast winter | sun | rain | snow | dawn | dusk | night | day all | overcast summer |
|---|---|---|---|---|---|---|---|---|---|---|---|
| S2DHM feature optimization | 34.4 / 69.7 / 94.6 | 45.9 / 74.3 / 95.5 | 49.0 / 79.5 / 96.2 | 49.1 / 73.0 / 90.9 | 62.5 / 84.8 / 96.9 | 59.5 / 84.5 / 95.7 | 51.8 / 78.3 / 94.0 | 56.9 / 83.2 / 95.9 | 22.8 / 65.1 / 93.8 | 52.8 / 80.0 / 95.2 | 41.5 / 77.1 / 97.0 |