Cityscapes

Introduced by Cordts et al. in The Cityscapes Dataset for Semantic Urban Scene Understanding.

Cityscapes is a large-scale database which focuses on semantic understanding of urban street scenes. It provides semantic, instance-wise, and dense pixel annotations for 30 classes grouped into 8 categories (flat surfaces, humans, vehicles, constructions, objects, nature, sky, and void). The dataset consists of around 5000 fine annotated images and 20000 coarse annotated ones. Data was captured in 50 cities during several months, daytimes, and good weather conditions. It was originally recorded as video so the frames were manually selected to have the following features: large number of dynamic objects, varying scene layout, and varying background.

Model Zoo

UperNet + InternImage

backbone	resolution	mIoU (ss/ms)	train speed	train time	#params	FLOPs	Config	Download
InternImage-T	512x1024	82.58 / 83.40	0.32s / iter	14.5h	59M	1889G	config	ckpt \| log
InternImage-S	512x1024	82.74 / 83.45	0.36s / iter	16.5h	80M	2035G	config	ckpt \| log
InternImage-B	512x1024	83.18 / 83.97	0.39s / iter	17h	128M	2369G	config	ckpt \| log
InternImage-L	512x1024	83.68 / 84.41	0.50s / iter	23h	256M	3234G	config	ckpt \| log
InternImage-XL	512x1024	83.62 / 84.28	0.56s / iter	26h	368M	4022G	config	ckpt \| log

Training speed is measured with A100 GPU.
Please set with_cp=True to save memory if you meet out-of-memory issues.

UperNet + InternImage (with additional data)

Mapillary 80k + Cityscapes (w/ coarse data) 160k

backbone	resolution	mIoU (ss/ms)	train speed	train time	#params	FLOPs	Config	Download
InternImage-L	512x1024	85.94 / 86.22	0.50s / iter	23h	256M	3234G	config	ckpt \| log
InternImage-XL	512x1024	86.20 / 86.42	0.56s / iter	26h	368M	4022G	config	ckpt \| log

SegFormerHead + InternImage (with additional data)

Mapillary 80k + Cityscapes (w/ coarse data) 160k

backbone	resolution	mIoU (ss/ms)	train speed	train time	#params	FLOPs	Config	Download
InternImage-L	512x1024	85.16 / 85.67	0.37s / iter	17h	220M	1580G	config	ckpt \| log
InternImage-XL	512x1024	85.41 / 85.93	0.43s / iter	19.5h	330M	2364G	config	ckpt \| log

Mask2Former + InternImage (with additional data)

Mapillary 80k + Cityscapes (w/ coarse data) 80k

backbone	resolution	mIoU (ss/ms)	#params	FLOPs	Config	Download
InternImage-H	1024x1024	86.37 / 86.96	1094M	7878G	config	ckpt \| log