3D Object Detection on nuScenes Rainy (val)
72.9mAPCCF (Oracle)†
Evaluation results
| Method | Links | ||
|---|---|---|---|
| CCF (Oracle)†Modality=L+C2026.03 | 72.9 | 74.5 | |
| MoMEModality=LC2025.03 | 72.2 | 74.8 | |
| UniTRModality=LC2025.03 | 71.1 | 74.4 | |
| CMTModality=LC2025.03 | 70.5 | 73.7 | |
| GraphBEVModality=LC2025.03 | 70.2 | — | |
| SparseFusionModality=LC2025.03 | 70.2 | 73.3 | |
| BEVFusionModality=LC2025.03 | 69.9 | — | |
| DeepinteractionModality=LC2025.03 | 69.4 | 70.6 | |
| TransfusionModality=LC2025.03 | 67.5 | 71.9 | |
| Transfusion-LModality=L2025.03 | 64 | 69.9 | |
| CenterPointModality=L2025.03 | 59.2 | — | |
| CCF (Ours)Modality=L+C2026.03 | 44.7 | 52.5 | |
| BEVFormerModality=C2025.03 | 44 | — | |
| PETRModality=C2025.03 | 41.9 | 50.6 | |
| Our baselineModality=L+C2026.03 | 41.9 | 50 | |
| MEFormerReference=arXiv 24, Modality=L+C2026.03 | 40.1 | 50.1 | |
| ISFusionReference=CVPR 24, Modality=L+C2026.03 | 39.8 | 49.4 | |
| MOADReference=arXiv 24, Modality=L+C2026.03 | 39.2 | 49.4 | |
| MoMEReference=CVPR 25, Modality=L+C2026.03 | 37.7 | 48.5 | |
| CMTReference=ICCV 23, Modality=L+C2026.03 | 35.7 | 46.5 | |
| FrozenDriveAD Model=SparseDrive2026.06 | 35.15 | 44.26 | |
| MagicDrive-V2AD Model=SparseDrive2026.06 | 33.93 | 42.2 | |
| DriveArenaAD Model=SparseDrive2026.06 | 33.46 | 45.25 | |
| BaselineAD Model=SparseDrive2026.06 | 31.6 | 41.2 | |
| Rule-basedAD Model=SparseDrive2026.06 | 30.76 | 39.9 | |
| BEVDetModality=C2025.03 | 30.1 | 43.2 | |
| FSDv2Reference=TPAMI 24, Modality=L2026.03 | 23.4 | 41.6 |