# 3D Object Detection on nuScenes Average of Target Domains

Source: [3D Object Detection on nuScenes Average of Target Domains](<https://www.sota2.com/research/sota/3d-object-detection-on-nuscenes-average-of-target-domains>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-03-25T15:09:32.008Z

Evaluation of 3D Object Detection performance on the aggregated 'Average of Target Domains' split of the nuScenes dataset, reporting primary metrics like mAP and NDS.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | 3D Object Detection |
| Dataset (including any stated split) | nuScenes Average of Target Domains |
| Metric | mAP |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 9 of 9 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [mAP](<https://www.sota2.com/research/sota/3d-object-detection-on-nuscenes-average-of-target-domains.md?metric=mAP>): Higher is better; unit: PERCENT.

- [NDS](<https://www.sota2.com/research/sota/3d-object-detection-on-nuscenes-average-of-target-domains.md?metric=NDS>): Higher is better; unit: PERCENT.

## Recorded results

| Method | mAP | Result date | Report paper |
| --- | --- | --- | --- |
| CCF (Oracle)† | 64.5 | Not recorded | 69c36c200636e5bf4afc653e |
| CCF (Ours) | 46.5 | Not recorded | 69c36c200636e5bf4afc653e |
| Our baseline | 44.1 | Not recorded | 69c36c200636e5bf4afc653e |
| ISFusion | 42.3 | Not recorded | 69c36c200636e5bf4afc653e |
| MEFormer | 41.8 | Not recorded | 69c36c200636e5bf4afc653e |
| MOAD | 41.4 | Not recorded | 69c36c200636e5bf4afc653e |
| MoME | 40 | Not recorded | 69c36c200636e5bf4afc653e |
| CMT | 38.5 | Not recorded | 69c36c200636e5bf4afc653e |
| FSDv2 | 29.4 | Not recorded | 69c36c200636e5bf4afc653e |

### CCF (Oracle)†

mAP: 64.5. Result ID: 69c3fa9b47f34ce924ae117d.

[Reporting paper](<https://www.sota2.com/research/paper/69c36c200636e5bf4afc653e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69c36c200636e5bf4afc653e.md>)

Recorded evaluation configuration: {"Modality":"L+C"}. This record does not assert independent reproduction.

### CCF (Ours)

mAP: 46.5. Result ID: 69c3fa9b47f34ce924ae117c.

[Reporting paper](<https://www.sota2.com/research/paper/69c36c200636e5bf4afc653e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69c36c200636e5bf4afc653e.md>)

Recorded evaluation configuration: {"Modality":"L+C"}. This record does not assert independent reproduction.

### Our baseline

mAP: 44.1. Result ID: 69c3fa9b47f34ce924ae117b.

[Reporting paper](<https://www.sota2.com/research/paper/69c36c200636e5bf4afc653e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa79c51e209131cea7f44f.md>)

Recorded evaluation configuration: {"Modality":"L+C"}. This record does not assert independent reproduction.

### ISFusion

mAP: 42.3. Result ID: 69c3fa9b47f34ce924ae1179.

[Reporting paper](<https://www.sota2.com/research/paper/69c36c200636e5bf4afc653e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa72a11e209131cea57aa8.md>)

[Implementation](<https://github.com/yinjunbo/IS-Fusion>)

Recorded evaluation configuration: {"Reference":"CVPR 24","Modality":"L+C"}. This record does not assert independent reproduction.

### MEFormer

mAP: 41.8. Result ID: 69c3fa9b47f34ce924ae1178.

[Reporting paper](<https://www.sota2.com/research/paper/69c36c200636e5bf4afc653e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa747e1e209131cea61eda.md>)

[Implementation](<https://github.com/hanchaa/MEFormer>)

Recorded evaluation configuration: {"Reference":"arXiv 24","Modality":"L+C"}. This record does not assert independent reproduction.

### MOAD

mAP: 41.4. Result ID: 69c3fa9b47f34ce924ae1177.

[Reporting paper](<https://www.sota2.com/research/paper/69c36c200636e5bf4afc653e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa747e1e209131cea61eda.md>)

[Implementation](<https://github.com/hanchaa/MEFormer>)

Recorded evaluation configuration: {"Reference":"arXiv 24","Modality":"L+C"}. This record does not assert independent reproduction.

### MoME

mAP: 40. Result ID: 69c3fa9b47f34ce924ae117a.

[Reporting paper](<https://www.sota2.com/research/paper/69c36c200636e5bf4afc653e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77bc1e209131cea75061.md>)

Recorded evaluation configuration: {"Reference":"CVPR 25","Modality":"L+C"}. This record does not assert independent reproduction.

### CMT

mAP: 38.5. Result ID: 69c3fa9b47f34ce924ae1176.

[Reporting paper](<https://www.sota2.com/research/paper/69c36c200636e5bf4afc653e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa709a1e209131cea4c26a.md>)

Recorded evaluation configuration: {"Reference":"ICCV 23","Modality":"L+C"}. This record does not assert independent reproduction.

### FSDv2

mAP: 29.4. Result ID: 69c3fa9b47f34ce924ae1175.

[Reporting paper](<https://www.sota2.com/research/paper/69c36c200636e5bf4afc653e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa730f1e209131cea5a319.md>)

Recorded evaluation configuration: {"Reference":"TPAMI 24","Modality":"L"}. This record does not assert independent reproduction.

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