3D Object Detection (Efficiency) on OmniHD-Scenes (test)
62.2FPSPointPillars
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| PointPillarsModality=R, Image Res.=-, Backbone=PointPillars, Hardware=single NVIDIA RTX 4090 GPU2026.07 | 62.2 | 25.33 | 4.85 | |
| RadarPillarNetModality=R, Image Res.=-, Backbone=RadarPillarNet, Hardware=single NVIDIA RTX 4090 GPU2026.07 | 60.3 | 25.32 | 4.85 | |
| PointPillarsModality=L-32, Image Res.=-, Backbone=PointPillars, Hardware=single NVIDIA RTX 4090 GPU2026.07 | 33.9 | 27.16 | 4.86 | |
| PointPillarsModality=L-128, Image Res.=-, Backbone=PointPillars, Hardware=single NVIDIA RTX 4090 GPU2026.07 | 16.6 | 28.69 | 4.86 | |
| Sparse4Dv3Modality=C, Image Res.=544×960, Backbone=R50, Hardware=single NVIDIA RTX 4090 GPU2026.07 | 15.9 | 447.77 | 47.92 | |
| Sparse4D-Radar-BaseModality=R+C, Image Res.=544×960, Backbone=R50+PointPillars, Hardware=single NVIDIA RTX 4090 GPU2026.07 | 11.5 | 472.06 | 53.47 | |
| BEVFormer-SModality=C, Image Res.=544×960, Backbone=R50, Hardware=single NVIDIA RTX 4090 GPU2026.07 | 11.4 | 363.46 | 42.47 | |
| BEVFormerModality=C, Image Res.=544×960, Backbone=R50, Hardware=single NVIDIA RTX 4090 GPU2026.07 | 11.4 | 363.46 | 42.47 | |
| Sparse4D-Radar-AccModality=R+C, Image Res.=544×960, Backbone=R50+PointPillars, Hardware=single NVIDIA RTX 4090 GPU2026.07 | 8.7 | 482.96 | 55.46 | |
| RCBEVDetModality=R+C, Image Res.=544×960, Backbone=R50+RadarBEVNet, Hardware=single NVIDIA RTX 4090 GPU2026.07 | 5.2 | — | — | |
| Doracamom-SModality=R+C, Image Res.=544×960, Backbone=R50+RadarPillarNet, Hardware=single NVIDIA RTX 4090 GPU2026.07 | 4.8 | 1,842.41 | 55.88 | |
| BEVFormer-SModality=C, Image Res.=864×1536, Backbone=R101-DCN, Hardware=single NVIDIA RTX 4090 GPU2026.07 | 4.7 | 891.18 | 63.21 | |
| BEVFormerModality=C, Image Res.=864×1536, Backbone=R101-DCN, Hardware=single NVIDIA RTX 4090 GPU2026.07 | 4.7 | 891.18 | 63.21 | |
| DoracamomModality=R+C, Image Res.=544×960, Backbone=R50+RadarPillarNet, Hardware=single NVIDIA RTX 4090 GPU2026.07 | 4.2 | 1,842.41 | 55.88 | |
| LSSModality=C, Image Res.=544×960, Backbone=R50, Hardware=single NVIDIA RTX 4090 GPU2026.07 | 3.7 | 2,746.61 | 52.91 | |
| BEVFusionModality=R+C, Image Res.=544×960, Backbone=R50+PointPillars, Hardware=single NVIDIA RTX 4090 GPU2026.07 | 3.6 | 2,858.51 | 60.04 | |
| RCFusionModality=R+C, Image Res.=544×960, Backbone=R50+RadarPillarNet, Hardware=single NVIDIA RTX 4090 GPU2026.07 | 3.6 | 2,857.11 | 59.89 |