3D Object Detection on Nuscenes to Waymo
55.2mAPOracle
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| OracleBase Model=BEVDepth, Evaluation Protocol=Oracle2026.03 | 55.2 | 0.528 | 0.148 | 0.085 | 64.9 | |
| OracleBase Model=BEVDepth, Evaluation Protocol=Oracle2026.03 | 47.5 | 0.577 | 0.177 | 0.147 | 58.7 | |
| CoIn3DBase Model=BEVDepth2026.03 | 38.1 | 0.687 | 0.22 | 0.155 | 51.3 | |
| UDGA-BEVBase Model=BEVDepth2026.03 | 34.9 | 0.754 | 0.289 | 0.25 | 45.9 | |
| CoIn3DBase Model=BEVDepth2026.03 | 34.9 | 0.727 | 0.257 | 0.179 | 48.1 | |
| UDGA-BEVBase Model=BEVDepth2026.03 | 32.6 | 0.684 | 0.263 | 0.168 | 47.7 | |
| DG-BEVBase Model=BEVDepth2026.03 | 30.3 | 0.689 | 0.218 | 0.171 | 47.2 | |
| DG-BEVBase Model=BEVDepth2026.03 | 29.7 | 0.822 | 0.216 | 0.372 | 41.5 | |
| CoIn3DArchitecture=BEVFormer2026.03 | 24.9 | 0.872 | 0.239 | 0.365 | 37.9 | |
| CoIn3DArchitecture=PETR2026.03 | 20 | 1.141 | 0.242 | 0.505 | 30.9 | |
| Direct TransferArchitecture=BEVFormer2026.03 | 5.4 | 1.146 | 0.747 | 1.606 | 6.9 | |
| Direct TransferArchitecture=PETR2026.03 | 4.8 | 1.191 | 0.748 | 1.543 | 6.6 | |
| CAM-ConvsBase Model=BEVDepth2026.03 | 4.5 | 1.301 | 0.253 | 0.773 | 18.5 | |
| Direct TransferBase Model=BEVDepth, Evaluation Protocol=Direct Transfer2026.03 | 4 | 1.303 | 0.265 | 0.79 | 17.8 | |
| CAM-ConvsBase Model=BEVDepth2026.03 | 3.8 | 1.308 | 0.316 | 0.506 | 21.5 | |
| Single-DGODBase Model=BEVDepth2026.03 | 3.4 | 1.305 | 0.262 | 0.855 | 16.4 | |
| Direct TransferBase Model=BEVDepth, Evaluation Protocol=Direct Transfer2026.03 | 3.2 | 1.305 | 0.768 | 0.532 | 13.3 | |
| Single-DGODBase Model=BEVDepth2026.03 | 1.4 | 1 | 1 | 1 | 0.7 |