3D Object Detection on nuScenes Night (val)
45.1mAPGraphBEV
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| GraphBEVModality=LC2025.03 | 45.1 | — | — | — | — | — | — | |
| UniDA3DBackbone=V2-99, Image Size=320 × 8002026.03 | 45.04 | 53.76 | 65.87 | 26.57 | 43.13 | 32.58 | 19.74 | |
| SparseFusionModality=LC2025.03 | 43.8 | 46.4 | — | — | — | — | — | |
| MoMEModality=LC2025.03 | 43 | 46.6 | — | — | — | — | — | |
| BEVFusionModality=LC2025.03 | 42.8 | — | — | — | — | — | — | |
| CMTModality=LC2025.03 | 42.8 | 46.3 | — | — | — | — | — | |
| DeepinteractionModality=LC2025.03 | 42.3 | 43.8 | — | — | — | — | — | |
| TransfusionModality=LC2025.03 | 39.8 | 44.7 | — | — | — | — | — | |
| UniDA3DBackbone=ResNet50, Image Size=256 × 7042026.03 | 39.74 | 50.02 | 65.43 | 27.36 | 49.08 | 36.8 | 19.83 | |
| Transfusion-LModality=L2025.03 | 37.5 | 43.5 | — | — | — | — | — | |
| UniTRModality=LC2025.03 | 36.6 | 43.3 | — | — | — | — | — | |
| CenterPointModality=L2025.03 | 35.4 | — | — | — | — | — | — | |
| BEVFormer-baseBackbone=R101-DCN, Image Size=900 × 16002026.03 | 30.31 | 43.77 | 74.99 | 29.08 | 42.68 | 46.74 | 20.34 | |
| BEVStereoBackbone=ResNet50, Image Size=256 × 7042026.03 | 29.37 | 43.35 | 64.94 | 28.66 | 51.71 | 46.22 | 21.78 | |
| PETRv2Backbone=V2-99, Image Size=320 × 8002026.03 | 28.86 | 31.93 | 84.01 | 71 | 154.73 | 48.74 | 21.26 | |
| BEVDepthBackbone=ResNet50, Image Size=256 × 7042026.03 | 27.16 | 41.33 | 69.37 | 27.99 | 54.67 | 48.16 | 22.31 | |
| StreamPETRBackbone=V2-99, Image Size=640 × 16002026.03 | 26.78 | 41.58 | 70.93 | 27.27 | 58.18 | 39.33 | 22.42 | |
| BEVFormer v2Backbone=ResNet50, Image Size=640 × 16002026.03 | 25.56 | 35.37 | 80.78 | 29.39 | 53.37 | 89.09 | 21.5 | |
| BEVDet4DBackbone=ResNet50, Image Size=256 × 7042026.03 | 22.33 | 37.27 | 76.82 | 28.64 | 61.64 | 49.51 | 22.35 | |
| BEVFormerModality=C2025.03 | 21.2 | — | — | — | — | — | — | |
| SOLOFusionBackbone=ResNet50, Image Size=256 × 7042026.03 | 17.84 | 32.91 | 77.64 | 30.78 | 78.28 | 47.02 | 26.41 | |
| PETRModality=C2025.03 | 17.2 | 24.2 | — | — | — | — | — | |
| StreamPETRBackbone=ResNet50, Image Size=256 × 7042026.03 | 15.6 | 32.53 | 82.84 | 30.91 | 64.91 | 49.59 | 24.48 | |
| BEVDetModality=C2025.03 | 12 | 21.7 | — | — | — | — | — | |
| PETRBackbone=ResNet50, Image Size=512 × 14082026.03 | 11.97 | 15.51 | 92.69 | 74.4 | 147.76 | 136.79 | 37.72 | |
| BEVDet (CBGS)Backbone=ResNet50, Image Size=256 × 7042026.03 | 6.98 | 14.82 | 91.65 | 50.68 | 84.18 | 136.67 | 60.21 |