Waymo Open Dataset
Benchmarks
TaskDatasetSOTA resultTrendResults
Waymo Open Dataset (val)
75.313D APH Vehicle L2
219
Waymo Open Dataset (test)
86.95Vehicle L2 mAPH
105
Waymo Open Dataset (val)
73.9mIoU
63
Waymo Open Dataset LEVEL_2 (val)
77.13D AP (Overall)
60
Waymo Open Dataset LEVEL_1 (val)
83.813D AP
60
Waymo Open Dataset (WOD) (val)
84.5Vehicle L1 mAP
47
Waymo Open Dataset LEVEL_1 (val)
77.323D AP Overall
46
Waymo Open Dataset LEVEL_2 (val)
69.683D AP (Overall)
43
Waymo Open Dataset Level 2
69.23mAPH (L2)
35
Waymo Open Dataset (WOD) (test)
87.5Overall L1 AP
32
Waymo Open Dataset 1.2 (val)
72.5Vehicle mAP H L2
32
Waymo Open Dataset 0.2 labeled (val)
80.77Vehicle 3D AP (L1)
29
Waymo Open Dataset v1.2 (val)
78.12L1 3D mAP
29
Waymo Open Dataset LEVEL_1 v1.2 (val)
78.793D AP
28
Waymo Open Dataset (WOD) (val)
86.3Vehicle L1 3D AP
27
Waymo Open Dataset (WOD) (val)
80.1Overall L2 APH
24
Waymo Open Dataset 79 (val)
1,646AP@0.5 (3D, L1)
24
Waymo Open Dataset v1.4 (val)
80.8AP Vehicle (L1)
23
Waymo Open Dataset LEVEL_2 v1.2 (val)
0.7033D AP
22
Waymo Open Dataset 1.0 (val)
0.08Dynamic Foreground EPE (m)
21
Waymo Open Dataset (WOD) Level 2 (test)
91.59MOTA
21
Waymo Open Dataset (WOD) Level 1 (test)
92.17MOTA
21
Waymo Open Dataset (test)
94.3Accuracy
20
Waymo Open Dataset (WOD) v1.2 (val)
89.54mAP L1
20
Waymo Open Dataset v1.2 (PTPM split protocol)
66.4Overall 3D AP
18