Here you can find example outputs as well as input images from the NYU RGBD dataset. Click on a table row to see a modal window showing larger images. You can then use keyboard arrows (left and right) to go through the dataset.

ID	Input	Ours				Dollar et al.
		Output	Recall	Precision	F	Output	Recall	Precision	F
00000002			0.63	0.7	0.67		0.63	0.61	0.62
00000009			0.69	0.77	0.73		0.71	0.73	0.72
00000012			0.54	0.63	0.58		0.61	0.57	0.59
00000018			0.75	0.63	0.69		0.75	0.61	0.67
00000024			0.6	0.7	0.65		0.63	0.72	0.67
00000026			0.58	0.75	0.65		0.73	0.59	0.65
00000027			0.68	0.76	0.72		0.74	0.7	0.72
00000031			0.66	0.76	0.71		0.71	0.73	0.72
00000037			0.63	0.82	0.71		0.65	0.71	0.68
00000039			0.66	0.68	0.67		0.77	0.64	0.7
00000052			0.62	0.71	0.66		0.69	0.63	0.66
00000053			0.66	0.58	0.62		0.7	0.62	0.66
00000057			0.61	0.55	0.58		0.6	0.54	0.57
00000061			0.62	0.66	0.64		0.73	0.62	0.67
00000079			0.51	0.59	0.55		0.6	0.57	0.59
00000082			0.59	0.68	0.63		0.64	0.65	0.64
00000087			0.69	0.52	0.59		0.74	0.47	0.58
00000088			0.51	0.6	0.55		0.7	0.45	0.55
00000095			0.64	0.56	0.6		0.78	0.49	0.6
00000102			0.46	0.68	0.55		0.4	0.79	0.53
00000108			0.61	0.76	0.67		0.68	0.66	0.67
00000114			0.58	0.48	0.53		0.73	0.5	0.59
00000118			0.66	0.7	0.68		0.74	0.67	0.7
00000125			0.68	0.75	0.71		0.7	0.69	0.69
00000141			0.58	0.63	0.6		0.72	0.54	0.62
00000153			0.68	0.59	0.63		0.64	0.56	0.6
00000161			0.6	0.84	0.7		0.65	0.79	0.71
00000168			0.64	0.6	0.62		0.53	0.64	0.58
00000178			0.63	0.7	0.66		0.72	0.67	0.69
00000189			0.67	0.77	0.72		0.75	0.71	0.73
00000200			0.52	0.8	0.63		0.68	0.66	0.67
00000209			0.61	0.7	0.65		0.61	0.77	0.68
00000222			0.69	0.91	0.79		0.74	0.82	0.78
00000234			0.64	0.65	0.64		0.76	0.63	0.69
00000251			0.56	0.76	0.64		0.59	0.63	0.61
00000260			0.65	0.73	0.69		0.67	0.71	0.69
00000275			0.56	0.74	0.64		0.74	0.59	0.66
00000277			0.74	0.61	0.67		0.75	0.61	0.68
00000282			0.64	0.65	0.65		0.7	0.68	0.69
00000285			0.63	0.58	0.6		0.65	0.65	0.65
00000286			0.64	0.67	0.66		0.72	0.57	0.64
00000289			0.61	0.66	0.63		0.66	0.63	0.64
00000314			0.65	0.65	0.65		0.76	0.63	0.69
00000318			0.73	0.69	0.71		0.75	0.7	0.73
00000323			0.63	0.68	0.66		0.78	0.61	0.68
00000324			0.72	0.7	0.71		0.82	0.63	0.71
00000342			0.51	0.68	0.58		0.61	0.64	0.63
00000344			0.69	0.8	0.74		0.76	0.72	0.74
00000353			0.56	0.69	0.62		0.61	0.57	0.59
00000355			0.73	0.64	0.68		0.68	0.78	0.73
00000356			0.6	0.8	0.69		0.74	0.65	0.69
00000359			0.59	0.64	0.62		0.65	0.65	0.65
00000393			0.54	0.67	0.6		0.67	0.48	0.56
00000405			0.46	0.79	0.58		0.53	0.61	0.57
00000412			0.72	0.68	0.7		0.7	0.73	0.72
00000414			0.69	0.65	0.67		0.77	0.59	0.67
00000421			0.65	0.84	0.73		0.74	0.73	0.73
00000436			0.59	0.66	0.63		0.77	0.49	0.6
00000447			0.59	0.74	0.66		0.65	0.78	0.71
00000451			0.66	0.73	0.7		0.74	0.62	0.67
00000458			0.66	0.58	0.62		0.73	0.49	0.59
00000466			0.62	0.64	0.63		0.59	0.62	0.6
00000468			0.69	0.75	0.72		0.8	0.75	0.77
00000480			0.55	0.38	0.45		0.47	0.59	0.52
00000482			0.62	0.7	0.65		0.68	0.7	0.69
00000483			0.67	0.51	0.58		0.65	0.67	0.66
00000486			0.28	0.63	0.38		0.55	0.45	0.5
00000495			0.65	0.67	0.66		0.78	0.62	0.69
00000498			0.63	0.52	0.57		0.67	0.43	0.52
00000500			0.71	0.73	0.72		0.74	0.55	0.63
00000503			0.64	0.75	0.69		0.7	0.65	0.67
00000508			0.56	0.62	0.59		0.6	0.56	0.58
00000510			0.59	0.51	0.54		0.61	0.48	0.54
00000512			0.63	0.67	0.65		0.63	0.59	0.61
00000524			0.65	0.75	0.69		0.63	0.76	0.69
00000526			0.52	0.68	0.59		0.55	0.67	0.6
00000527			0.69	0.86	0.77		0.77	0.77	0.77
00000535			0.63	0.62	0.63		0.59	0.61	0.6
00000538			0.58	0.61	0.6		0.56	0.69	0.62
00000546			0.61	0.76	0.68		0.72	0.66	0.69
00000549			0.65	0.38	0.48		0.69	0.39	0.5
00000561			0.59	0.76	0.67		0.7	0.61	0.66
00000572			0.59	0.81	0.68		0.71	0.61	0.65
00000577			0.65	0.57	0.61		0.65	0.6	0.63
00000579			0.65	0.71	0.68		0.71	0.66	0.69
00000580			0.6	0.55	0.58		0.72	0.48	0.58
00000582			0.67	0.76	0.71		0.73	0.74	0.73
00000587			0.67	0.66	0.67		0.77	0.65	0.7
00000608			0.68	0.9	0.78		0.77	0.75	0.76
00000610			0.65	0.73	0.69		0.74	0.68	0.71
00000615			0.6	0.72	0.66		0.71	0.66	0.68
00000624			0.67	0.72	0.7		0.77	0.65	0.71
00000628			0.57	0.75	0.65		0.65	0.65	0.65
00000654			0.66	0.55	0.6		0.6	0.55	0.58
00000676			0.61	0.64	0.62		0.72	0.44	0.54
00000680			0.56	0.66	0.6		0.6	0.59	0.59
00000693			0.62	0.63	0.63		0.71	0.62	0.66
00000741			0.65	0.52	0.58		0.66	0.54	0.6
00000765			0.65	0.7	0.67		0.7	0.61	0.65
00000778			0.68	0.64	0.66		0.65	0.68	0.66
00000785			0.58	0.63	0.6		0.73	0.57	0.64
00000787			0.58	0.69	0.63		0.67	0.67	0.67
00000793			0.58	0.79	0.67		0.69	0.66	0.67
00000819			0.61	0.67	0.64		0.74	0.65	0.7
00000825			0.71	0.85	0.78		0.74	0.72	0.73
00000830			0.62	0.72	0.67		0.71	0.71	0.71
00000833			0.64	0.64	0.64		0.71	0.57	0.63
00000844			0.64	0.84	0.73		0.74	0.74	0.74
00000845			0.62	0.82	0.7		0.68	0.72	0.7
00000847			0.66	0.71	0.69		0.72	0.67	0.69
00000857			0.66	0.71	0.68		0.69	0.6	0.64
00000867			0.65	0.7	0.67		0.79	0.55	0.64
00000874			0.62	0.78	0.69		0.7	0.65	0.67
00000890			0.71	0.69	0.7		0.73	0.71	0.72
00000895			0.59	0.65	0.62		0.62	0.67	0.64
00000896			0.59	0.64	0.62		0.63	0.66	0.65
00000906			0.7	0.64	0.67		0.71	0.67	0.69
00000908			0.68	0.61	0.64		0.7	0.61	0.66
00000935			0.68	0.71	0.7		0.66	0.72	0.69
00000936			0.62	0.85	0.72		0.69	0.68	0.69
00000937			0.59	0.78	0.67		0.63	0.75	0.68
00000940			0.63	0.84	0.72		0.69	0.59	0.63
00000942			0.59	0.72	0.65		0.63	0.64	0.64
00000943			0.66	0.6	0.63		0.63	0.58	0.6
00000949			0.66	0.78	0.71		0.68	0.69	0.69
00000962			0.66	0.64	0.65		0.69	0.63	0.66
00000972			0.67	0.66	0.66		0.62	0.72	0.67
00000973			0.66	0.68	0.67		0.67	0.77	0.71
00000985			0.67	0.72	0.69		0.75	0.66	0.7
00000986			0.62	0.7	0.66		0.68	0.64	0.66
00000987			0.62	0.79	0.7		0.64	0.82	0.71
00000990			0.64	0.62	0.63		0.66	0.57	0.61
00000992			0.65	0.78	0.71		0.72	0.66	0.69
00000994			0.46	0.74	0.56		0.4	0.51	0.45
00000996			0.49	0.54	0.51		0.53	0.6	0.56
00001005			0.67	0.66	0.66		0.67	0.67	0.67
00001018			0.58	0.81	0.68		0.64	0.71	0.67
00001027			0.49	0.72	0.59		0.69	0.64	0.66
00001029			0.59	0.77	0.67		0.7	0.7	0.7
00001031			0.58	0.79	0.67		0.67	0.61	0.64
00001050			0.63	0.59	0.61		0.62	0.57	0.59
00001059			0.54	0.75	0.63		0.65	0.61	0.63
00001060			0.47	0.57	0.52		0.5	0.52	0.51
00001076			0.69	0.76	0.72		0.72	0.69	0.7
00001089			0.62	0.62	0.62		0.71	0.72	0.71
00001094			0.59	0.54	0.56		0.67	0.56	0.61
00001105			0.72	0.45	0.56		0.58	0.67	0.63
00001106			0.57	0.64	0.6		0.5	0.57	0.53
00001118			0.63	0.7	0.67		0.74	0.63	0.68
00001130			0.53	0.57	0.55		0.64	0.54	0.59
00001136			0.48	0.6	0.53		0.56	0.38	0.45
00001144			0.5	0.68	0.57		0.66	0.53	0.59
00001149			0.71	0.51	0.59		0.47	0.46	0.46
00001150			0.63	0.68	0.65		0.62	0.69	0.65
00001151			0.63	0.78	0.7		0.62	0.71	0.66
00001152			0.58	0.74	0.65		0.68	0.69	0.69
00001160			0.69	0.83	0.76		0.75	0.79	0.77
00001172			0.6	0.88	0.71		0.66	0.81	0.73
00001175			0.61	0.8	0.69		0.7	0.71	0.71
00001177			0.49	0.69	0.57		0.56	0.6	0.58
00001196			0.5	0.64	0.56		0.5	0.54	0.52
00001200			0.59	0.59	0.59		0.57	0.65	0.61
00001208			0.68	0.49	0.57		0.73	0.49	0.59
00001210			0.57	0.72	0.64		0.67	0.64	0.65
00001214			0.56	0.66	0.61		0.65	0.58	0.61
00001249			0.65	0.73	0.69		0.67	0.68	0.68
00001250			0.61	0.7	0.65		0.6	0.6	0.6
00001255			0.64	0.61	0.63		0.63	0.66	0.64
00001260			0.55	0.76	0.64		0.68	0.65	0.66
00001262			0.62	0.54	0.58		0.7	0.54	0.61
00001268			0.62	0.71	0.66		0.63	0.56	0.59
00001275			0.66	0.57	0.61		0.78	0.54	0.64
00001280			0.67	0.6	0.64		0.76	0.62	0.68
00001287			0.64	0.75	0.69		0.72	0.68	0.7
00001295			0.57	0.59	0.58		0.54	0.47	0.5
00001297			0.57	0.8	0.66		0.68	0.6	0.64
00001299			0.65	0.7	0.67		0.7	0.65	0.67
00001302			0.62	0.71	0.66		0.71	0.6	0.65
00001303			0.69	0.79	0.73		0.72	0.78	0.75
00001308			0.57	0.69	0.62		0.56	0.63	0.59
00001310			0.57	0.77	0.65		0.64	0.59	0.61
00001316			0.58	0.3	0.39		0.79	0.28	0.41
00001323			0.6	0.59	0.6		0.69	0.52	0.6
00001327			0.58	0.77	0.66		0.71	0.62	0.66
00001328			0.58	0.67	0.63		0.7	0.61	0.65
00001334			0.53	0.73	0.61		0.67	0.55	0.61
00001335			0.6	0.62	0.61		0.66	0.67	0.67
00001339			0.59	0.66	0.62		0.66	0.55	0.6
00001340			0.51	0.7	0.59		0.7	0.46	0.56
00001346			0.68	0.71	0.7		0.77	0.71	0.74
00001362			0.61	0.68	0.65		0.68	0.52	0.59
00001366			0.73	0.8	0.76		0.74	0.78	0.76
00001379			0.66	0.71	0.68		0.77	0.59	0.67
00001388			0.68	0.72	0.7		0.59	0.76	0.66
00001393			0.62	0.7	0.66		0.6	0.71	0.65
00001394			0.65	0.68	0.66		0.68	0.67	0.68
00001395			0.69	0.62	0.65		0.64	0.72	0.68
00001399			0.6	0.55	0.58		0.69	0.52	0.59
00001402			0.68	0.68	0.68		0.79	0.73	0.76
00001425			0.65	0.6	0.62		0.74	0.57	0.64