# 3D Object Detection on nuScenes-C R Fog v1.0

Source: [3D Object Detection on nuScenes-C R Fog v1.0](<https://www.sota2.com/research/sota/3d-object-detection-on-nuscenes-c-r-fog-v1-0>)

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

Data updated: 2026-06-01T08:44:38.868Z

Evaluation of 3D Object Detection performance on the nuScenes-C dataset variant specifically under R Fog conditions (v1.0).

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-C R Fog v1.0 |
| Metric | mAP |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 12 of 12 |
| 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-c-r-fog-v1-0.md?metric=mAP>): Higher is better; unit: PERCENT.

## Recorded results

| Method | mAP | Result date | Report paper |
| --- | --- | --- | --- |
| CMT | 66.6 | Not recorded | 6a1d11e7dbd7150506f83e25 |
| GraphBEV + Ours | 55.8 | Not recorded | 6a1d11e7dbd7150506f83e25 |
| UniTR | 55.7 | Not recorded | 6a1d11e7dbd7150506f83e25 |
| BEVFusion-AD + Ours | 55.5 | Not recorded | 6a1d11e7dbd7150506f83e25 |
| BEVFusion-AD | 55.3 | Not recorded | 6a1d11e7dbd7150506f83e25 |
| DeepInteraction | 55.2 | Not recorded | 6a1d11e7dbd7150506f83e25 |
| BEVFusion-MIT + Ours | 55 | Not recorded | 6a1d11e7dbd7150506f83e25 |
| GraphBEV | 54.8 | Not recorded | 6a1d11e7dbd7150506f83e25 |
| TransFusion | 54.7 | Not recorded | 6a1d11e7dbd7150506f83e25 |
| BEVFusion-MIT | 54.7 | Not recorded | 6a1d11e7dbd7150506f83e25 |
| CenterPoint | 43.7 | Not recorded | 6a1d11e7dbd7150506f83e25 |
| DETR3D | 31.7 | Not recorded | 6a1d11e7dbd7150506f83e25 |

### CMT

mAP: 66.6. Result ID: 6a1d45e2fbc373592c1686c5.

[Reporting paper](<https://www.sota2.com/research/paper/6a1d11e7dbd7150506f83e25.md>)

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

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

### GraphBEV + Ours

mAP: 55.8. Result ID: 6a1d45e2fbc373592c1686cc.

[Reporting paper](<https://www.sota2.com/research/paper/6a1d11e7dbd7150506f83e25.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6a1d11e7dbd7150506f83e25.md>)

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

### UniTR

mAP: 55.7. Result ID: 6a1d45e2fbc373592c1686c6.

[Reporting paper](<https://www.sota2.com/research/paper/6a1d11e7dbd7150506f83e25.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa705b1e209131cea4a921.md>)

[Implementation](<https://github.com/Haiyang-W/UniTR>)

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

### BEVFusion-AD + Ours

mAP: 55.5. Result ID: 6a1d45e2fbc373592c1686ca.

[Reporting paper](<https://www.sota2.com/research/paper/6a1d11e7dbd7150506f83e25.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6a1d11e7dbd7150506f83e25.md>)

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

### BEVFusion-AD

mAP: 55.3. Result ID: 6a1d45e2fbc373592c1686c9.

[Reporting paper](<https://www.sota2.com/research/paper/6a1d11e7dbd7150506f83e25.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6de71e209131cea3ccdb.md>)

[Implementation](<https://github.com/ADLab-AutoDrive/BEVFusion>)

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

### DeepInteraction

mAP: 55.2. Result ID: 6a1d45e2fbc373592c1686c4.

[Reporting paper](<https://www.sota2.com/research/paper/6a1d11e7dbd7150506f83e25.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6e281e209131cea3e2f9.md>)

[Implementation](<https://github.com/fudan-zvg/DeepInteraction>)

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

### BEVFusion-MIT + Ours

mAP: 55. Result ID: 6a1d45e2fbc373592c1686c8.

[Reporting paper](<https://www.sota2.com/research/paper/6a1d11e7dbd7150506f83e25.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6a1d11e7dbd7150506f83e25.md>)

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

### GraphBEV

mAP: 54.8. Result ID: 6a1d45e2fbc373592c1686cb.

[Reporting paper](<https://www.sota2.com/research/paper/6a1d11e7dbd7150506f83e25.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77691e209131cea731c5.md>)

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

### TransFusion

mAP: 54.7. Result ID: 6a1d45e2fbc373592c1686c3.

[Reporting paper](<https://www.sota2.com/research/paper/6a1d11e7dbd7150506f83e25.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c0d1e209131cea31b48.md>)

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

### BEVFusion-MIT

mAP: 54.7. Result ID: 6a1d45e2fbc373592c1686c7.

[Reporting paper](<https://www.sota2.com/research/paper/6a1d11e7dbd7150506f83e25.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa74b01e209131cea63405.md>)

[Implementation](<https://github.com/mit-han-lab/bevfusion>)

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

### CenterPoint

mAP: 43.7. Result ID: 6a1d45e2fbc373592c1686c2.

[Reporting paper](<https://www.sota2.com/research/paper/6a1d11e7dbd7150506f83e25.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6af91e209131cea2b72c.md>)

[Implementation](<https://github.com/tianweiy/CenterPoint>)

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

### DETR3D

mAP: 31.7. Result ID: 6a1d45e2fbc373592c1686c1.

[Reporting paper](<https://www.sota2.com/research/paper/6a1d11e7dbd7150506f83e25.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6b111e209131cea2be51.md>)

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

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