{
 "method": "synthetic corruptions of our 22 held-out labeled frames; see eval/robustness.py",
 "results": {
  "clean (day)": {
   "mAP50": 0.975,
   "mAP50_95": 0.889,
   "precision": 0.944,
   "recall": 0.941,
   "per_class_mAP50_95": {
    "person": 0.852,
    "car": 0.952,
    "bus": 0.875,
    "truck": 0.858,
    "light_red": 0.931,
    "light_not_red": 0.865
   }
  },
  "night": {
   "mAP50": 0.39,
   "mAP50_95": 0.271,
   "precision": 0.754,
   "recall": 0.347,
   "per_class_mAP50_95": {
    "person": 0.123,
    "car": 0.558,
    "bus": 0.08,
    "truck": 0.426,
    "light_red": 0.328,
    "light_not_red": 0.111
   }
  },
  "rain": {
   "mAP50": 0.793,
   "mAP50_95": 0.534,
   "precision": 0.82,
   "recall": 0.752,
   "per_class_mAP50_95": {
    "person": 0.383,
    "car": 0.734,
    "bus": 0.553,
    "truck": 0.399,
    "light_red": 0.544,
    "light_not_red": 0.592
   }
  },
  "fog": {
   "mAP50": 0.971,
   "mAP50_95": 0.847,
   "precision": 0.951,
   "recall": 0.924,
   "per_class_mAP50_95": {
    "person": 0.8,
    "car": 0.921,
    "bus": 0.862,
    "truck": 0.779,
    "light_red": 0.908,
    "light_not_red": 0.81
   }
  },
  "motion blur": {
   "mAP50": 0.712,
   "mAP50_95": 0.45,
   "precision": 0.808,
   "recall": 0.664,
   "per_class_mAP50_95": {
    "person": 0.146,
    "car": 0.763,
    "bus": 0.807,
    "truck": 0.124,
    "light_red": 0.432,
    "light_not_red": 0.431
   }
  },
  "low bit-rate 540p": {
   "mAP50": 0.881,
   "mAP50_95": 0.672,
   "precision": 0.847,
   "recall": 0.822,
   "per_class_mAP50_95": {
    "person": 0.443,
    "car": 0.825,
    "bus": 0.805,
    "truck": 0.546,
    "light_red": 0.777,
    "light_not_red": 0.638
   }
  },
  "night + enhance (rejected)": {
   "mAP50": 0.266,
   "mAP50_95": 0.173,
   "precision": 0.482,
   "recall": 0.264,
   "per_class_mAP50_95": {
    "person": 0.063,
    "car": 0.283,
    "bus": 0.001,
    "truck": 0.287,
    "light_red": 0.312,
    "light_not_red": 0.09
   }
  }
 },
 "lowlight": {
  "clean (day)": {
   "mAP50": 0.978,
   "mAP50_95": 0.865,
   "precision": 0.952,
   "recall": 0.949,
   "per_class_mAP50_95": {
    "person": 0.809,
    "car": 0.933,
    "bus": 0.873,
    "truck": 0.87,
    "light_red": 0.908,
    "light_not_red": 0.795
   }
  },
  "night": {
   "mAP50": 0.916,
   "mAP50_95": 0.736,
   "precision": 0.949,
   "recall": 0.844,
   "per_class_mAP50_95": {
    "person": 0.491,
    "car": 0.858,
    "bus": 0.774,
    "truck": 0.713,
    "light_red": 0.857,
    "light_not_red": 0.723
   }
  },
  "night + enhance": {
   "mAP50": 0.525,
   "mAP50_95": 0.416,
   "precision": 0.662,
   "recall": 0.478,
   "per_class_mAP50_95": {
    "person": 0.127,
    "car": 0.673,
    "bus": 0.306,
    "truck": 0.611,
    "light_red": 0.613,
    "light_not_red": 0.167
   }
  },
  "rain": {
   "mAP50": 0.967,
   "mAP50_95": 0.828,
   "precision": 0.95,
   "recall": 0.916,
   "per_class_mAP50_95": {
    "person": 0.723,
    "car": 0.911,
    "bus": 0.864,
    "truck": 0.803,
    "light_red": 0.872,
    "light_not_red": 0.796
   }
  },
  "fog": {
   "mAP50": 0.976,
   "mAP50_95": 0.862,
   "precision": 0.944,
   "recall": 0.949,
   "per_class_mAP50_95": {
    "person": 0.782,
    "car": 0.928,
    "bus": 0.865,
    "truck": 0.879,
    "light_red": 0.924,
    "light_not_red": 0.793
   }
  },
  "motion blur": {
   "mAP50": 0.959,
   "mAP50_95": 0.801,
   "precision": 0.95,
   "recall": 0.909,
   "per_class_mAP50_95": {
    "person": 0.654,
    "car": 0.907,
    "bus": 0.852,
    "truck": 0.774,
    "light_red": 0.81,
    "light_not_red": 0.806
   }
  },
  "low bit-rate 540p": {
   "mAP50": 0.857,
   "mAP50_95": 0.677,
   "precision": 0.748,
   "recall": 0.801,
   "per_class_mAP50_95": {
    "person": 0.475,
    "car": 0.84,
    "bus": 0.812,
    "truck": 0.698,
    "light_red": 0.579,
    "light_not_red": 0.659
   }
  }
 },
 "routing": "mean HSV value of the first frame < 70 -> low-light model (weights/detector_lowlight.pt), else daylight model"
}