3D Object Detection on nuScenes to KITTI (val)
91.19AP (IoU=0.7)Target domain
Evaluation results
| Method | Links | ||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Target domainadaptation_type=Oracle/Upper Bound2025.12 | 91.19 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 10 f. + L2-SPTarget Frames=10, Regularization=L2-SP2025.12 | 85.56 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 40.29 | |
| Target domainAdaptation Protocol=Target domain baseline2025.12 | 84.66 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 10 f. + const LRTarget Frames=10, Learning Rate=constant2025.12 | 82.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 36.85 | |
| 10 f. + LR fadingTarget Frames=10, Learning Rate=fading2025.12 | 81.76 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 36.49 | |
| Diverse Frame Selection AlgorithmNumber of frames=100, Learning rate strategy=constant2025.12 | 80.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 43.64 | |
| Diverse Frame Selection AlgorithmNumber of frames=37, Learning rate strategy=constant2025.12 | 80.21 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 42.95 | |
| Diverse Frame Selection AlgorithmNumber of frames=10, Learning rate strategy=constant2025.12 | 78.17 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 40.91 | |
| Bi3DNumber of frames=2812025.12 | 77.55 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 40.29 | |
| CMT2025.12 | 75.51 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 38.25 | |
| SEE2025.12 | 72.51 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 27.24 | |
| ST3D2025.12 | 70.85 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 33.59 | |
| Stat-Norm2025.12 | 49.47 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 12.21 | |
| Source onlyadaptation_type=Baseline2025.12 | 45.27 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Source onlyAdaptation Protocol=Source only baseline2025.12 | 37.26 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Bi3DBackbone=PV-RCNN, Annotation Budget=1%2023.03 | — | 92.54 | 92.36 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Bi3D (w/ SN)Backbone=Voxel R-CNN, Annotation Budget=1%2023.03 | — | 93.47 | 93.32 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DTSBackbone=PVRCNN2024.04 | — | — | — | 77.65 | 47.6 | 57.82 | 40.43 | 45.74 | 63.96 | 36.3 | 43.78 | 19.76 | 9.24 | 14.83 | 11.6 | 47.72 | 36.32 | — | |
| DTSBackbone=SECOND2024.04 | — | — | — | 71.96 | 67.97 | 58.07 | 64.83 | 40.27 | 71.88 | 33.82 | 66.81 | 17.38 | 11.2 | 15.95 | 19.96 | 43.2 | 35.95 | — | |
| OracleBackbone=PVRCNN2024.04 | — | — | — | 87.69 | — | 80.36 | — | 55.69 | — | 52.26 | — | 69.25 | — | 64.53 | — | 70.88 | 65.72 | — | |
| OracleBackbone=SECOND2024.04 | — | — | — | 82.65 | — | 75.94 | — | 46.26 | — | 39.85 | — | 57.74 | — | 52.88 | — | 62.22 | 56.22 | — | |
| PEREBackbone=PVRCNN2024.04 | — | — | — | 82.09 | 70.77 | 68.34 | 68.23 | 48.37 | 73.48 | 42.24 | 64.71 | 26.42 | 21.46 | 23.96 | 27.84 | 52.29 | 44.85 | — | |
| PEREBackbone=SECOND2024.04 | — | — | — | 73.65 | 73.04 | 66.84 | 82.09 | 42.69 | 83.24 | 35.47 | 75.89 | 21.74 | 20.79 | 19.39 | 27.42 | 46.03 | 40.57 | — | |
| Source OnlyBackbone=PVRCNN2024.04 | — | — | — | 68.53 | — | 42.52 | — | 28.08 | — | 23.87 | — | 14.72 | — | 8.31 | — | 37.11 | 24.9 | — | |
| Source OnlyBackbone=SECOND2024.04 | — | — | — | 49.27 | — | 25.13 | — | 24.96 | — | 21.68 | — | 12.29 | — | 6.74 | — | 28.84 | 17.85 | — | |
| ST3DBackbone=PVRCNN2024.04 | — | — | — | 79.18 | 55.58 | 60.88 | 48.52 | 47.41 | 70.01 | 41.06 | 60.54 | 20.61 | 10.8 | 16.42 | 14.43 | 49.07 | 38.71 | — | |
| ST3DBackbone=SECOND2024.04 | — | — | — | 69.32 | 60.07 | 49.66 | 48.28 | 40.9 | 74.84 | 31.55 | 54.32 | 17.86 | 12.26 | 14.33 | 16.5 | 42.69 | 31.85 | — | |
| ST3D++Backbone=PVRCNN2024.04 | — | — | — | 78.46 | 51.83 | 60.88 | 48.52 | 47.04 | 68.67 | 41.2 | 61.04 | 22.65 | 14.54 | 18.75 | 18.56 | 49.38 | 40.28 | — | |
| ST3D++Backbone=SECOND2024.04 | — | — | — | 72.01 | 68.12 | 50.54 | 50.01 | 40.08 | 70.98 | 34.16 | 68.68 | 18.75 | 14.21 | 16.9 | 22.02 | 43.61 | 33.87 | — |