3D Object Detection on nuScenes LiDAR Motionblur
63.93NDSBase Network
Evaluation results
| Method | Links | ||
|---|---|---|---|
| Base NetworkGFLOPs=651.00, Latency (ms)=124.842026.04 | 63.93 | 58.32 | |
| SWAN-CBudget Layers=16, GFLOPs=597.55, Latency (ms)=121.592026.04 | 63.25 | 57.3 | |
| SWAN-SCBudget Layers=16, GFLOPs=455.66, Latency (ms)=116.172026.04 | 63.03 | 56.94 | |
| NaiveBudget Layers=16, GFLOPs=556.41, Latency (ms)=120.932026.04 | 63.02 | 56.79 | |
| ADMNBudget Layers=16, GFLOPs=584.01, Latency (ms)=123.212026.04 | 62.84 | 56.65 | |
| SWAN-PSCBudget Layers=16, GFLOPs=428.37, Latency (ms)=83.422026.04 | 61.4 | 55.18 | |
| NaiveBudget Layers=8, GFLOPs=426.56, Latency (ms)=106.092026.04 | 59.33 | 50.97 | |
| SWAN-CBudget Layers=8, GFLOPs=445.01, Latency (ms)=110.332026.04 | 58.37 | 49.21 | |
| SWAN-SCBudget Layers=8, GFLOPs=400.63, Latency (ms)=109.032026.04 | 58.35 | 49.13 | |
| BEVFusionGFLOPs=630.73, Latency (ms)=118.762026.04 | 58.18 | 53.6 | |
| SWAN-PSCBudget Layers=8, GFLOPs=373.42, Latency (ms)=77.152026.04 | 56.82 | 47.6 | |
| SWAN-CBudget Layers=6, GFLOPs=400.43, Latency (ms)=107.092026.04 | 56.19 | 45.18 | |
| ADMNBudget Layers=8, GFLOPs=438.09, Latency (ms)=110.212026.04 | 55.74 | 46.52 | |
| SWAN-PSCBudget Layers=6, GFLOPs=345.07, Latency (ms)=74.372026.04 | 55 | 44.08 | |
| SWAN-PSCBudget Layers=4, GFLOPs=331.41, Latency (ms)=72.212026.04 | 54.86 | 43.99 | |
| SSTGFLOPs=372.85, Latency (ms)=92.792026.04 | 54.82 | 42.73 | |
| NaiveBudget Layers=6, GFLOPs=394.31, Latency (ms)=102.112026.04 | 54.78 | 44.17 | |
| SWAN-SCBudget Layers=6, GFLOPs=372.62, Latency (ms)=106.512026.04 | 54.41 | 41.98 | |
| SWAN-CBudget Layers=4, GFLOPs=358.90, Latency (ms)=103.732026.04 | 54.38 | 41.97 | |
| SWAN-SCBudget Layers=4, GFLOPs=358.90, Latency (ms)=104.332026.04 | 54.33 | 41.94 | |
| ADMNBudget Layers=6, GFLOPs=407.78, Latency (ms)=105.812026.04 | 48.05 | 35.29 | |
| ADMNBudget Layers=4, GFLOPs=369.65, Latency (ms)=102.022026.04 | 47.82 | 32.2 | |
| NaiveBudget Layers=4, GFLOPs=362.00, Latency (ms)=98.812026.04 | 45.82 | 29.45 | |
| PETRGFLOPs=1100.15, Latency (ms)=44.312026.04 | 35.21 | 32.63 |