# 3D Object Detection on nuScenes (T+I)2V scenarios (val)

Source: [3D Object Detection on nuScenes (T+I)2V scenarios (val)](<https://www.sota2.com/research/sota/3d-object-detection-on-nuscenes-t-plus-i-2v-scenarios-val>)

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

Data updated: 2026-02-26T05:53:08.630Z

Evaluation of 3D Object Detection performance on the nuScenes validation set, specifically focusing on the (T+I)2V defined scenarios.

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 (T+I)2V scenarios (val) |
| Metric | NDS |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 8 of 8 |
| 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

- [NDS](<https://www.sota2.com/research/sota/3d-object-detection-on-nuscenes-t-plus-i-2v-scenarios-val.md?metric=NDS>): Higher is better; unit: PERCENT.

## Recorded results

| Method | NDS | Result date | Report paper |
| --- | --- | --- | --- |
| Oracle | 46.9 | Not recorded | 6982d29ea8b01e76cc8e945f |
| Oracle | 46.9 | Not recorded | 6982d29ca8b01e76cc8e9438 |
| ConsisDrive | 41.38 | Not recorded | 6982d29ca8b01e76cc8e9438 |
| InstaDrive | 40.51 | Not recorded | 6982d29ea8b01e76cc8e945f |
| MagicDrive-V2 | 36.82 | Not recorded | 6982d29ea8b01e76cc8e945f |
| MagicDrive-V2 | 36.82 | Not recorded | 6982d29ca8b01e76cc8e9438 |
| Panacea | 32.1 | Not recorded | 6982d29ea8b01e76cc8e945f |
| Panacea | 32.1 | Not recorded | 6982d29ca8b01e76cc8e9438 |

### Oracle

NDS: 46.9. Result ID: 699750c25698665ec4a27f04.

[Reporting paper](<https://www.sota2.com/research/paper/6982d29ea8b01e76cc8e945f.md>)

Recorded evaluation configuration: {"Real":true,"Generated":false,"Perception Model":"StreamPETR"}. This record does not assert independent reproduction.

### Oracle

NDS: 46.9. Result ID: 699751785698665ec4a34136.

[Reporting paper](<https://www.sota2.com/research/paper/6982d29ca8b01e76cc8e9438.md>)

Recorded evaluation configuration: {"Real":true,"Gen.":false}. This record does not assert independent reproduction.

### ConsisDrive

NDS: 41.38. Result ID: 699751785698665ec4a34139.

[Reporting paper](<https://www.sota2.com/research/paper/6982d29ca8b01e76cc8e9438.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6982d29ca8b01e76cc8e9438.md>)

Recorded evaluation configuration: {"Real":false,"Gen.":true}. This record does not assert independent reproduction.

### InstaDrive

NDS: 40.51. Result ID: 699750c25698665ec4a27f07.

[Reporting paper](<https://www.sota2.com/research/paper/6982d29ea8b01e76cc8e945f.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6982d29ea8b01e76cc8e945f.md>)

Recorded evaluation configuration: {"Real":false,"Generated":true,"Perception Model":"StreamPETR"}. This record does not assert independent reproduction.

### MagicDrive-V2

NDS: 36.82. Result ID: 699750c25698665ec4a27f06.

[Reporting paper](<https://www.sota2.com/research/paper/6982d29ea8b01e76cc8e945f.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa7a361e209131cea81d0b.md>)

Recorded evaluation configuration: {"Real":false,"Generated":true,"Perception Model":"StreamPETR"}. This record does not assert independent reproduction.

### MagicDrive-V2

NDS: 36.82. Result ID: 699751785698665ec4a34138.

[Reporting paper](<https://www.sota2.com/research/paper/6982d29ca8b01e76cc8e9438.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa7a361e209131cea81d0b.md>)

Recorded evaluation configuration: {"Real":false,"Gen.":true}. This record does not assert independent reproduction.

### Panacea

NDS: 32.1. Result ID: 699750c25698665ec4a27f05.

[Reporting paper](<https://www.sota2.com/research/paper/6982d29ea8b01e76cc8e945f.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa74841e209131cea6223c.md>)

Recorded evaluation configuration: {"Real":false,"Generated":true,"Perception Model":"StreamPETR"}. This record does not assert independent reproduction.

### Panacea

NDS: 32.1. Result ID: 699751785698665ec4a34137.

[Reporting paper](<https://www.sota2.com/research/paper/6982d29ca8b01e76cc8e9438.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa74841e209131cea6223c.md>)

Recorded evaluation configuration: {"Real":false,"Gen.":true}. This record does not assert independent reproduction.

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