3D Object Detection on K-Radar (Weather Conditions)
58.7AP3D TotalWRCFormer
Evaluation results
| Method | Links | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| WRCFormerSensors=C + R2025.12 | 58.7 | 55.9 | 59.7 | 70.1 | 52.2 | 54.7 | 59.2 | 54 | — | — | — | — | — | — | — | — | |
| RadarXFormerModality=R + C2026.03 | 57.6 | 56.8 | 66.3 | 67.3 | 50.5 | 48.5 | 58.5 | 49.5 | — | — | — | — | — | — | — | — | |
| L4DR (RAF)Sensors=C+L+R2026.07 | 57.4 | 59.4 | 67.6 | 79.3 | 53.3 | 45.9 | 56.3 | 37.8 | 82 | 82 | 88.2 | 93.9 | 82.6 | 63 | 88.5 | 60.4 | |
| DPFTSensors=C + R2025.12 | 56.1 | 55.7 | 59.4 | 63.1 | 49 | 51.6 | 50.5 | 50.5 | — | — | — | — | — | — | — | — | |
| DPFTModality=R + C2026.03 | 56.1 | 55.7 | 59.4 | 63.1 | 49 | 51.6 | 50.5 | 50.5 | — | — | — | — | — | — | — | — | |
| MixedFusionSensors=C + L2025.12 | 55.1 | 84.5 | 76.6 | 53.3 | 55.3 | 49.6 | 68.7 | 44.9 | — | — | — | — | — | — | — | — | |
| MixedFusionModality=C + L2026.03 | 55.1 | 84.5 | 76.6 | 53.3 | 55.3 | 49.6 | 68.7 | 44.9 | — | — | — | — | — | — | — | — | |
| L4DR (Frozen)Sensors=C+L+R2026.07 | 54.2 | 58.2 | 53.6 | 71.5 | 55.9 | 36.6 | 46.6 | 35.3 | 78.6 | 79.8 | 83.5 | 92.2 | 79.1 | 59.2 | 85.7 | 58.4 | |
| L4DR (Joint)Sensors=C+L+R2026.07 | 53.9 | 54.2 | 63.2 | 68.6 | 53.5 | 46.4 | 54.1 | 32.2 | 77.8 | 77 | 80.8 | 89.4 | 78.4 | 59.9 | 81.1 | 53.2 | |
| L4DRModality=R + L2026.03 | 53.5 | 53 | 64.1 | 73.2 | 53.8 | 46.2 | 52.4 | 37 | — | — | — | — | — | — | — | — | |
| L4DR (Baseline)Sensors=L+R2026.07 | 53.5 | 53 | 64.1 | 73.2 | 53.8 | 46.2 | 52.4 | 37 | 77.5 | 76.8 | 88.6 | 89.7 | 78.2 | 59.3 | 80.9 | 53.8 | |
| TED-MSensors=C + L2025.12 | 52.3 | 77.2 | 69.7 | 47.4 | 54.3 | 45.2 | 64.3 | 36.8 | — | — | — | — | — | — | — | — | |
| TED-MModality=C + L2026.03 | 52.3 | 77.2 | 69.7 | 47.4 | 54.3 | 45.2 | 64.3 | 36.8 | — | — | — | — | — | — | — | — | |
| VPFNetSensors=C + L2025.12 | 52.2 | 81.2 | 76.3 | 46.3 | 53.7 | 44.9 | 63.1 | 36.9 | — | — | — | — | — | — | — | — | |
| VPFNetModality=C + L2026.03 | 52.2 | 81.2 | 76.3 | 46.3 | 53.7 | 44.9 | 63.1 | 36.9 | — | — | — | — | — | — | — | — | |
| TED-SSensors=L2025.12 | 51 | 74.3 | 68.8 | 45.7 | 53.6 | 44.8 | 63.4 | 36.7 | — | — | — | — | — | — | — | — | |
| TED-SModality=L2026.03 | 51 | 74.3 | 68.8 | 45.7 | 53.6 | 44.8 | 63.4 | 36.7 | — | — | — | — | — | — | — | — | |
| CasASensors=L2025.12 | 50.9 | 82.2 | 65.6 | 44.4 | 53.7 | 44.9 | 62.7 | 36.9 | — | — | — | — | — | — | — | — | |
| CasAModality=L2026.03 | 50.9 | 82.2 | 65.6 | 44.4 | 53.7 | 44.9 | 62.7 | 36.9 | — | — | — | — | — | — | — | — | |
| RTNHModality=4D Radar2022.06 | 47.4 | 49.9 | 56.7 | 52.8 | 42 | 41.5 | 50.6 | 44.5 | 58.4 | 58.5 | 64.2 | 76.2 | 58.4 | 60.3 | 57.6 | 56.6 | |
| RTNHSensors=R2025.12 | 47.4 | 49.9 | 56.7 | 52.8 | 42 | 41.5 | 50.6 | 44.5 | — | — | — | — | — | — | — | — | |
| EchoFusionSensors=C + R2025.12 | 47.4 | 51.5 | 65.4 | 55 | 43.2 | 14.2 | 53.4 | 40.2 | — | — | — | — | — | — | — | — | |
| RTNHModality=R2026.03 | 47.4 | 49.9 | 56.7 | 52.8 | 42 | 41.5 | 50.6 | 44.5 | — | — | — | — | — | — | — | — | |
| EchoFusionModality=R + C2026.03 | 47.4 | 51.5 | 65.4 | 55 | 43.2 | 14.2 | 53.4 | 40.2 | — | — | — | — | — | — | — | — | |
| Voxel R-CNNSensors=L2025.12 | 46.4 | 81.8 | 69.6 | 48.8 | 47.1 | 46.9 | 54.8 | 37.2 | — | — | — | — | — | — | — | — | |
| Voxel-RCNNModality=L2026.03 | 46.4 | 81.8 | 69.6 | 48.8 | 47.1 | 46.9 | 54.8 | 37.2 | — | — | — | — | — | — | — | — | |
| PointPillarsModality=Lidar2022.06 | 45.4 | 52.3 | 56 | 42.2 | 44.5 | 22.7 | 40.6 | 29.7 | 49.3 | 56.6 | 61 | 52 | 57.8 | 23.1 | 51.6 | 30.8 | |
| 3D-LRFModality=R + L2026.03 | 45.2 | 45.3 | 55.8 | 51.8 | 38.3 | 23.4 | 60.2 | 36.9 | — | — | — | — | — | — | — | — | |
| RobuRCDetSensors=C+L+R2026.07 | 44.1 | 40.4 | 48.8 | 63.6 | 41.7 | 41.3 | 48.4 | 38.9 | 64.9 | 62.2 | 76.3 | 88.6 | 58.3 | 55 | 76.8 | 60 | |
| 3D-LRF (RAF)Sensors=C+L+R2026.07 | 43.2 | 42.9 | 63.8 | 46.5 | 44.1 | 32.6 | 63.9 | 35.6 | 71 | 70.8 | 88 | 82.3 | 74.3 | 43.3 | 84.3 | 49.6 | |
| CRNSensors=C+L+R2026.07 | 41.4 | 44.1 | 40.3 | 76.2 | 43.5 | 19 | 41.8 | 32.2 | 66.4 | 71.1 | 70.8 | 87.1 | 67.1 | 44.3 | 74.8 | 49.1 | |
| 3D-LRF (Joint)Sensors=C+L+R2026.07 | 39.3 | 41.3 | 61.3 | 49 | 39.2 | 25.5 | 59 | 27.7 | 65.7 | 70.2 | 81.9 | 75.8 | 74.5 | 18.4 | 74.2 | 40.9 | |
| 3D-LRF (Frozen)Sensors=C+L+R2026.07 | 39.1 | 38.2 | 57.2 | 44.7 | 36.5 | 25 | 55.6 | 39.5 | 68.3 | 67.2 | 87.8 | 81.6 | 78.3 | 42.4 | 80.1 | 48.6 | |
| SAMFusionSensors=C+L+R2026.07 | 36.8 | 38.8 | 32.2 | 48.7 | 35.1 | 28.1 | 34.9 | 31.3 | 56.7 | 57.7 | 49.9 | 69.4 | 55.1 | 47.9 | 50.1 | 51.6 | |
| 3D-LRF (Baseline)Sensors=L+R2026.07 | 35.8 | 32.9 | 49.1 | 40.4 | 34.5 | 25.1 | 53.1 | 14.8 | 64.5 | 62.1 | 88.5 | 81.8 | 69.9 | 37.7 | 84.6 | 36 | |
| RobuRCDetSensors=C+R2026.07 | 27.2 | 28.7 | 27.7 | 43 | 25.3 | 11.3 | 22.8 | 28.6 | 46.7 | 46.9 | 56.3 | 69.2 | 40.9 | 38.5 | 48.3 | 45.1 | |
| CRNSensors=C+R2026.07 | 24.9 | 25 | 31.7 | 44.8 | 25.5 | 20.3 | 31.9 | 28.6 | 41.5 | 39.9 | 54.6 | 66.3 | 40 | 32.4 | 57.4 | 40.4 | |
| InterFusionModality=R + L2026.03 | 17.5 | 15.3 | 20.5 | 47.6 | 12.9 | 9.3 | 56.8 | 25.7 | — | — | — | — | — | — | — | — |