3D Object Detection on ONCE (val)
66.8Overall mAP3DHMT
Evaluation results
| Method | Links | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 3DHMT2026.05 | 66.8 | 78.3 | 88.9 | 72.9 | 58 | 53.3 | 62.6 | 43.8 | 25.9 | 68.7 | 79.8 | 64 | 46.1 | — | |
| LION-MambaDetection Head=Center head of CenterPoint2024.07 | 66.6 | 78.2 | 89.1 | 72.6 | 57.5 | 53.2 | 62.4 | 44 | 24.5 | 68.5 | 79.2 | 63.2 | 47.1 | — | |
| LION2026.05 | 66.6 | 78.2 | 89.1 | 72.6 | 57.5 | 53.2 | 62.4 | 44 | 24.5 | 68.5 | 79.2 | 63.2 | 47.1 | — | |
| LION-RetNetDetection Head=Center head of CenterPoint2024.07 | 66.3 | 78.1 | 88.7 | 72.4 | 58.5 | 52.4 | 60.5 | 43.6 | 26.3 | 68.3 | 79.4 | 62.9 | 46.1 | — | |
| Point2SeqBackbone=Voxel, Head=Sequence2022.03 | 66.16 | 73.43 | 85.16 | 66.21 | 50.76 | 57.53 | 68.21 | 47.15 | 25.18 | 67.53 | 77.95 | 62.14 | 46.06 | — | |
| LION-RWKVDetection Head=Center head of CenterPoint2024.07 | 65.8 | 78.3 | 89.2 | 72.6 | 56.7 | 50.6 | 60 | 40.4 | 24.2 | 68.4 | 79.4 | 63.2 | 45.7 | — | |
| X-Ray TeacherBaseline Model=SECOND, Labeled samples=5k, Unlabeled samples=1M2024.03 | 63.57 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DSVT2026.05 | 62.7 | 76.5 | 88.4 | 72.7 | 54.2 | 47.4 | 55.2 | 38.9 | 24 | 64.2 | 75.4 | 59.9 | 41 | — | |
| X-Ray TeacherBaseline Model=SECOND, Labeled samples=5k, Unlabeled samples=500k2024.03 | 62.42 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Proficient TeacherBaseline Model=SECOND, Labeled samples=5k, Unlabeled samples=1M2024.03 | 61.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| NoiseDetBaseline Model=SECOND, Labeled samples=5k, Unlabeled samples=1M2024.03 | 61.16 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CenterPoint2024.07 | 60.1 | 66.8 | 80.1 | 59.6 | 43.4 | 49.9 | 56.2 | 42.6 | 26.3 | 63.5 | 74.3 | 57.9 | 41.5 | — | |
| CenterPoint2026.05 | 60.1 | 66.8 | 80.1 | 59.6 | 43.4 | 49.9 | 56.2 | 42.6 | 26.3 | 63.5 | 74.3 | 57.9 | 41.5 | — | |
| NoiseDetBaseline Model=SECOND, Labeled samples=5k, Unlabeled samples=500k2024.03 | 60.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CenterPointsBackbone=Voxel, Head=Center2022.03 | 60.05 | 66.79 | 80.1 | 59.55 | 43.39 | 49.9 | 56.24 | 42.61 | 26.27 | 63.45 | 74.28 | 57.94 | 41.48 | — | |
| Proficient TeacherBaseline Model=SECOND, Labeled samples=5k, Unlabeled samples=500k2024.03 | 59.89 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| X-Ray TeacherBaseline Model=SECOND, Labeled samples=5k, Unlabeled samples=100k2024.03 | 59.65 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Mean TeacherBaseline Model=SECOND, Labeled samples=5k, Unlabeled samples=1M2024.03 | 59.28 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Mean TeacherBaseline Model=SECOND, Labeled samples=5k, Unlabeled samples=500k2024.03 | 58.27 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| NoiseDetBaseline Model=SECOND, Labeled samples=5k, Unlabeled samples=100k2024.03 | 58 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SESSBaseline Model=SECOND, Labeled samples=5k, Unlabeled samples=1M2024.03 | 57.99 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointPainting2024.07 | 57.8 | 66.2 | 80.3 | 59.8 | 42.3 | 44.8 | 52.6 | 36.6 | 22.5 | 62.3 | 73.6 | 57.2 | 40.4 | — | |
| PointPainting2026.05 | 57.8 | 66.2 | 80.3 | 59.8 | 42.3 | 44.8 | 52.6 | 36.6 | 22.5 | 62.3 | 73.6 | 57.2 | 40.4 | — | |
| Proficient TeacherBaseline Model=SECOND, Labeled samples=5k, Unlabeled samples=100k2024.03 | 57.72 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DIoUMatchBaseline Model=SECOND, Labeled samples=5k, Unlabeled samples=1M2024.03 | 57.07 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Noisy StudentBaseline Model=SECOND, Labeled samples=5k, Unlabeled samples=1M2024.03 | 56.37 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DIoUMatchBaseline Model=SECOND, Labeled samples=5k, Unlabeled samples=500k2024.03 | 56.25 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SESSBaseline Model=SECOND, Labeled samples=5k, Unlabeled samples=500k2024.03 | 55.79 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Mean TeacherBaseline Model=SECOND, Labeled samples=5k, Unlabeled samples=100k2024.03 | 55.34 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Noisy StudentBaseline Model=SECOND, Labeled samples=5k, Unlabeled samples=500k2024.03 | 55.34 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DIoUMatchBaseline Model=SECOND, Labeled samples=5k, Unlabeled samples=100k2024.03 | 53.81 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PV-RCNN2024.07 | 53.6 | 77.8 | 89.4 | 72.6 | 58.6 | 23.5 | 25.6 | 22.8 | 17.3 | 59.4 | 71.7 | 52.6 | 36.2 | — | |
| PV-RCNN2026.05 | 53.6 | 77.8 | 89.4 | 72.6 | 58.6 | 23.5 | 25.6 | 22.8 | 17.3 | 59.4 | 71.7 | 52.6 | 36.2 | — | |
| PV-RCNNBackbone=Voxel, Head=Anchor2022.03 | 53.55 | 77.77 | 89.39 | 72.55 | 58.64 | 23.5 | 25.61 | 22.84 | 17.27 | 59.37 | 71.66 | 52.58 | 36.17 | — | |
| SESSBaseline Model=SECOND, Labeled samples=5k, Unlabeled samples=100k2024.03 | 53.39 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ALSODetector=SECOND, Metric Protocol=ONCE metric, Pre-training Data=ONCE Small2022.12 | 52.68 | 71.73 | — | — | — | 28.16 | — | — | — | 58.13 | — | — | — | 0.79 | |
| ALSODetector=SECOND, Pre-training Data=ONCE Small2022.12 | 52.68 | 71.73 | — | — | — | 28.16 | — | — | — | 58.13 | — | — | — | 0.79 | |
| Noisy StudentBaseline Model=SECOND, Labeled samples=5k, Unlabeled samples=100k2024.03 | 52.39 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DeepClusterDetector=SECOND, Metric Protocol=ONCE metric, Pre-training Data=ONCE Small2022.12 | 52.06 | 73.19 | — | — | — | 24 | — | — | — | 58.99 | — | — | — | 0.17 | |
| DeepClusterDetector=SECOND, Pre-training Data=ONCE Small2022.12 | 52.06 | 73.19 | — | — | — | 24 | — | — | — | 58.99 | — | — | — | 0.17 | |
| SwAVDetector=SECOND, Metric Protocol=ONCE metric, Pre-training Data=ONCE Small2022.12 | 51.96 | 72.71 | — | — | — | 25.13 | — | — | — | 58.05 | — | — | — | 0.07 | |
| SwAVDetector=SECOND, Pre-training Data=ONCE Small2022.12 | 51.96 | 72.71 | — | — | — | 25.13 | — | — | — | 58.05 | — | — | — | 0.07 | |
| SECOND2024.07 | 51.9 | 71.2 | 84 | 63 | 47.3 | 26.4 | 29.3 | 24.1 | 18.1 | 58 | 70 | 52.4 | 34.6 | — | |
| SECOND2026.05 | 51.9 | 71.2 | 84 | 63 | 47.3 | 26.4 | 29.3 | 24.1 | 18.1 | 58 | 70 | 52.4 | 34.6 | — | |
| SECONDBackbone=Voxel, Head=Anchor2022.03 | 51.89 | 71.19 | 84.04 | 63.02 | 47.25 | 26.44 | 29.33 | 24.05 | 18.05 | 58.04 | 69.96 | 52.43 | 34.61 | — | |
| No pre-trainingDetector=SECOND, Metric Protocol=ONCE metric2022.12 | 51.89 | 71.19 | — | — | — | 26.44 | — | — | — | 58.04 | — | — | — | — | |
| No pre-trainingDetector=SECOND, Pre-training Data=ONCE Small2022.12 | 51.89 | 71.19 | — | — | — | 26.44 | — | — | — | 58.04 | — | — | — | — | |
| SECOND (Pretraining)Baseline Model=SECOND, Labeled samples=5k, Unlabeled samples=02024.03 | 51.89 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SECOND (Pretraining)Baseline Model=SECOND, Labeled samples=5k, Unlabeled samples=02024.03 | 51.89 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SECOND (Pretraining)Baseline Model=SECOND, Labeled samples=5k, Unlabeled samples=02024.03 | 51.89 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Pseudo LabelBaseline Model=SECOND, Labeled samples=5k, Unlabeled samples=100k2024.03 | 51.22 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Pseudo LabelBaseline Model=SECOND, Labeled samples=5k, Unlabeled samples=500k2024.03 | 50.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointCont.Detector=SECOND, Metric Protocol=ONCE metric, Pre-training Data=ONCE Small2022.12 | 49.98 | 71.07 | — | — | — | 22.52 | — | — | — | 56.36 | — | — | — | -1.91 | |
| PointCont.Detector=SECOND, Pre-training Data=ONCE Small2022.12 | 49.98 | 71.07 | — | — | — | 22.52 | — | — | — | 56.36 | — | — | — | -1.91 | |
| Pseudo LabelBaseline Model=SECOND, Labeled samples=5k, Unlabeled samples=1M2024.03 | 49.76 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BYOLDetector=SECOND, Metric Protocol=ONCE metric, Pre-training Data=ONCE Small2022.12 | 46.04 | 68.02 | — | — | — | 19.5 | — | — | — | 50.61 | — | — | — | -5.85 | |
| BYOLDetector=SECOND, Pre-training Data=ONCE Small2022.12 | 46.04 | 68.02 | — | — | — | 19.5 | — | — | — | 50.61 | — | — | — | -5.85 | |
| PointPillarsBackbone=Pillar, Head=Anchor2022.03 | 44.34 | 68.57 | 80.86 | 62.07 | 47.04 | 17.63 | 19.74 | 15.15 | 10.23 | 46.81 | 58.33 | 40.32 | 25.86 | — | |
| PointPillars2024.07 | 44.3 | 68.6 | 80.9 | 62.1 | 47 | 17.6 | 19.7 | 15.2 | 10.2 | 46.8 | 58.3 | 40.3 | 25.9 | — | |
| PointPillars2026.05 | 44.3 | 68.6 | 80.9 | 62.1 | 47 | 17.6 | 19.7 | 15.2 | 10.2 | 46.8 | 58.3 | 40.3 | 25.9 | — | |
| PointRCNN2022.03 | 28.74 | 52.09 | 74.45 | 40.89 | 16.81 | 4.28 | 6.17 | 2.4 | 0.91 | 29.84 | 46.03 | 20.94 | 5.46 | — | |
| PointRCNN2024.07 | 28.7 | 52.1 | 74.5 | 40.9 | 16.8 | 4.3 | 6.2 | 2.4 | 0.9 | 29.8 | 46 | 20.9 | 5.5 | — | |
| PointRCNN2026.05 | 28.7 | 52.1 | 74.5 | 40.9 | 16.8 | 4.3 | 6.2 | 2.4 | 0.9 | 29.8 | 46 | 20.9 | 5.5 | — |