3D Object Detection on nuScenes (val) (Robustness Metrics)
47.84Clean NDSBEVFormer
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| BEVFormerReal Occ=false2025.05 | 47.84 | 45.92 | 28.76 | 37.03 | 34.02 | 16.52 | 40.5 | 47.2 | 62.1 | |
| BEVFormerReal Occ=true2025.05 | 47.84 | 46.54 | 33.98 | 37.03 | 35.2 | 20.97 | 24.5 | 32.2 | 46.7 | |
| BEVDet4DReal Occ=false2025.05 | 44.71 | 41.58 | 27.62 | 31.38 | 27.99 | 15.64 | 53 | 59 | 67 | |
| BEVDet4DReal Occ=true2025.05 | 44.71 | 42.68 | 33.55 | 31.38 | 28.83 | 18.38 | 43.8 | 50.1 | 58.6 | |
| BEVDetReal Occ=false2025.05 | 39.42 | 35.79 | 20.97 | 30.86 | 26.25 | 12.98 | 61.3 | 65.7 | 72 | |
| BEVDetReal Occ=true2025.05 | 39.42 | 36.82 | 26.68 | 30.86 | 27.54 | 15.97 | 45.4 | 51.5 | 55.5 |