3D Object Detection on nuScenes (val) (AP by Instance Count)
54.6mAP (All)FOMO-3D
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| FOMO-3DModality=LiDAR+Camera2026.04 | 54.6 | 79.9 | 59.6 | 27.6 | |
| MMLFModality=LiDAR+Camera2026.04 | 51.4 | 77.9 | 59.4 | 20 | |
| BEVFusionModality=LiDAR+Camera2026.04 | 45.5 | 75.5 | 52 | 12.8 | |
| CMTModality=LiDAR+Camera2026.04 | 44.4 | 79.9 | 53 | 4.8 | |
| MMFModality=LiDAR+Camera2026.04 | 43.6 | 77.1 | 49 | 9.4 | |
| BEVFusion-LModality=LiDAR2026.04 | 42.5 | 72.5 | 48 | 10.6 | |
| SemLT3DModality=Camera, Backbone=ViT2026.04 | 41.1 | 62.08 | 40.62 | 20.77 | |
| CenterPointModality=LiDAR, Hierarchy=with hier.2026.04 | 40.4 | 77.1 | 45.1 | 4.3 | |
| TransFusionModality=LiDAR+Camera2026.04 | 39.8 | 73.9 | 41.2 | 9.8 | |
| CenterPointModality=LiDAR2026.04 | 39.2 | 76.4 | 43.1 | 3.5 | |
| SemLT3DModality=Camera, Backbone=ResNet-502026.04 | 29.59 | 50.92 | 34.55 | 6.03 | |
| SparseBEVModality=Camera2026.04 | 27.94 | 54.18 | 29.67 | 4.1 | |
| RayDNModality=Camera2026.04 | 27.41 | 54.5 | 31.02 | 0.6 | |
| StreamPETRModality=Camera2026.04 | 26.97 | 53.32 | 28.53 | 3.22 | |
| PETRv2Modality=Camera2026.04 | 18.13 | 38.82 | 14.96 | 0.3 | |
| BEVDet4DModality=Camera2026.04 | 17.98 | 39.34 | 18.07 | 0 | |
| BEVFormerModality=Camera2026.04 | 15.51 | 34.6 | 14.91 | 0.3 | |
| BEVDepthModality=Camera2026.04 | 15.43 | 36.46 | 13.51 | 0.13 | |
| BEVDetModality=Camera2026.04 | 13.27 | 27.7 | 14.31 | 0 |