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ResearchFormerly WizWand

3D Object Detection on nuScenes (val) (mAP and NDS)

75mAPGaussianFusion-T
40.26449.28258.367.318May 13, 2026May 21, 2026May 29, 2026Jun 6, 2026Jun 14, 2026Jun 22, 2026Jul 1, 2026
Updated 4mo ago

Evaluation results

MethodLinks
GaussianFusion-Ttemporal_extension=true2026.077577.6
SparseLIF-Ttemporal_extension=true2026.0774.777.5
BEVFusion4Dtemporal_extension=true2026.077273.5
FusionFormertemporal_extension=true2026.0771.474.1
SToRe3D-1/2Backbone=ViT-L, Image Width (W)=800, Sparsity Level (S)=1/2, FPS=2.72026.0553.361.8
ToC3D-FastBackbone=ViT-L, Image Width (W)=800, Sparsity Level (S)=1/2, FPS=2.52026.0552.361
SToRe3D-1/3Backbone=ViT-L, Image Width (W)=800, Sparsity Level (S)=1/3, FPS=3.52026.0552.360.9
StreamPETRBackbone=ViT-L, Image Width (W)=800, FPS=2.22026.0552.160.8
SToRe3D-1/10Backbone=ViT-L, Image Width (W)=800, Sparsity Level (S)=1/10, FPS=5.22026.0552.160.7
ToC3D-FasterBackbone=ViT-L, Image Width (W)=800, Sparsity Level (S)=1/3, FPS=3.12026.0551.760.9
Sparse4Dv2Backbone=R101, Image Width (W)=14082026.0550.559.8
SparseBEVBackbone=R101, Image Width (W)=14082026.0550.159.2
StreamPETRBackbone=ViT-B, Image Width (W)=800, FPS=6.12026.0549.758.4
SToRe3D-1/2Backbone=ViT-B, Image Width (W)=800, Sparsity Level (S)=1/2, FPS=8.22026.0549.358.1
SToRe3D-1/3Backbone=ViT-B, Image Width (W)=800, Sparsity Level (S)=1/3, FPS=10.62026.0548.957.8
StreamPETRBackbone=R101, Image Width (W)=1408, FPS=7.02026.0548.657.8
SOLOFusionBackbone=R101, Image Width (W)=14082026.0548.358.2
StreamPETRBackbone=V2-99, Image Width (W)=800, FPS=13.52026.0548.257.1
SToRe3D-1/10Backbone=ViT-B, Image Width (W)=800, Sparsity Level (S)=1/10, FPS=17.72026.0547.957.1
ToC3D-FastBackbone=ViT-B, Image Width (W)=800, Sparsity Level (S)=1/2, FPS=6.62026.054656.2
ToC3D-FasterBackbone=ViT-B, Image Width (W)=800, Sparsity Level (S)=1/3, FPS=7.32026.0545.355.9
Sparse4DBackbone=R101-DCN, Image Width (W)=1600, FPS=4.72026.0544.455
BEVFormerBackbone=R101-DCN, Image Width (W)=1600, FPS=3.32026.0541.651.7