3D Object Detection on nuScenes LiDAR Beamsreduce
62.1NDSMEFormer
Evaluation results
| Method | Links | ||
|---|---|---|---|
| MEFormer2026.05 | 62.1 | 54.3 | |
| MoME2026.05 | 61.6 | 53.4 | |
| CMT2026.05 | 60.1 | 52.4 | |
| SparseFusion2026.05 | 59.6 | 48.1 | |
| BEVFusion-MIT +Ours2026.05 | 58.4 | 46.9 | |
| MetaBEV2026.05 | 57.7 | — | |
| BEVFusion-AD +Ours2026.05 | 57.3 | 49 | |
| UniTR2026.05 | 56.5 | 46.8 | |
| GraphBEV +Ours2026.05 | 56.3 | 49.2 | |
| DeepInteraction2026.05 | 54.9 | 46.5 | |
| BEVFusion-AD2026.05 | 53.9 | 43.4 | |
| GraphBEV2026.05 | 53.4 | 46.1 | |
| TransFusion2026.05 | 52.7 | 40.8 | |
| UniBEV2026.05 | 52.7 | 45.3 | |
| BEVFusion-MIT2026.05 | 52.4 | 41.2 | |
| BEVFusion-MIT (MD)2026.05 | 31.3 | 18.1 | |
| CenterPoint2026.05 | 28.9 | 19.7 | |
| Base NetworkGFLOPs=651.00, Latency (ms)=124.842026.04 | 0.418 | 0.2897 | |
| SWAN-CBudget Layers=16, GFLOPs=597.55, Latency (ms)=121.592026.04 | 0.4097 | 0.2774 | |
| ADMNBudget Layers=16, GFLOPs=584.01, Latency (ms)=123.212026.04 | 0.4012 | 0.2678 | |
| NaiveBudget Layers=16, GFLOPs=556.41, Latency (ms)=120.932026.04 | 0.3948 | 0.254 | |
| SWAN-SCBudget Layers=16, GFLOPs=455.66, Latency (ms)=116.172026.04 | 0.3901 | 0.2837 | |
| SWAN-SCBudget Layers=8, GFLOPs=400.63, Latency (ms)=109.032026.04 | 0.3677 | 0.2607 | |
| SWAN-CBudget Layers=8, GFLOPs=445.01, Latency (ms)=110.332026.04 | 0.3676 | 0.2608 | |
| SWAN-PSCBudget Layers=16, GFLOPs=428.37, Latency (ms)=83.422026.04 | 0.3642 | 0.2543 | |
| ADMNBudget Layers=8, GFLOPs=438.09, Latency (ms)=110.212026.04 | 0.3635 | 0.2104 | |
| PETRGFLOPs=1100.15, Latency (ms)=44.312026.04 | 0.3521 | 0.3263 | |
| SWAN-PSCBudget Layers=8, GFLOPs=373.42, Latency (ms)=77.152026.04 | 0.3442 | 0.2323 | |
| SWAN-CBudget Layers=6, GFLOPs=400.43, Latency (ms)=107.092026.04 | 0.3433 | 0.2261 | |
| SWAN-SCBudget Layers=6, GFLOPs=372.62, Latency (ms)=106.512026.04 | 0.343 | 0.226 | |
| NaiveBudget Layers=8, GFLOPs=426.56, Latency (ms)=106.092026.04 | 0.3292 | 0.1616 | |
| ADMNBudget Layers=6, GFLOPs=407.78, Latency (ms)=105.812026.04 | 0.3255 | 0.1595 | |
| BEVFusionGFLOPs=630.73, Latency (ms)=118.762026.04 | 0.3208 | 0.1077 | |
| SWAN-PSCBudget Layers=6, GFLOPs=345.07, Latency (ms)=74.372026.04 | 0.3199 | 0.1987 | |
| NaiveBudget Layers=6, GFLOPs=394.31, Latency (ms)=102.112026.04 | 0.2959 | 0.0999 | |
| SWAN-CBudget Layers=4, GFLOPs=358.90, Latency (ms)=103.732026.04 | 0.2917 | 0.1612 | |
| SWAN-SCBudget Layers=4, GFLOPs=358.90, Latency (ms)=104.332026.04 | 0.2916 | 0.1611 | |
| SWAN-PSCBudget Layers=4, GFLOPs=331.41, Latency (ms)=72.212026.04 | 0.2792 | 0.1418 | |
| ADMNBudget Layers=4, GFLOPs=369.65, Latency (ms)=102.022026.04 | 0.2633 | 0.0748 | |
| NaiveBudget Layers=4, GFLOPs=362.00, Latency (ms)=98.812026.04 | 0.2471 | 0.0388 | |
| SSTGFLOPs=372.85, Latency (ms)=92.792026.04 | 0.2206 | 0.0138 |