3D Object Detection on Place3D Adverse
51.7mAP (Avg)CenterPoint
Evaluation Results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| CenterPointLiDAR placement strategy=Trapezoid2024.03 | 51.7 | — | — | — | — | — | — | |
| CenterPointLiDAR placement strategy=Ours2024.03 | 51.1 | — | — | — | — | — | — | |
| CenterPointLiDAR placement strategy=Square2024.03 | 50.2 | — | — | — | — | — | — | |
| CenterPointLiDAR placement strategy=Pyramid2024.03 | 49.6 | — | — | — | — | — | — | |
| CenterPointLiDAR placement strategy=Line-Roll2024.03 | 49.6 | — | — | — | — | — | — | |
| CenterPointLiDAR placement strategy=Line2024.03 | 49.2 | — | — | — | — | — | — | |
| CenterPointLiDAR placement strategy=Pyramid-Roll2024.03 | 49.2 | — | — | — | — | — | — | |
| CenterPointLiDAR placement strategy=Center2024.03 | 47.3 | — | — | — | — | — | — | |
| BEVFusion-LLiDAR placement strategy=Ours2024.03 | 41.3 | — | — | — | — | — | — | |
| PointPillarsLiDAR placement strategy=Line-Roll2024.03 | 40.3 | — | — | — | — | — | — | |
| BEVFusion-LLiDAR placement strategy=Pyramid-Roll2024.03 | 40.3 | — | — | — | — | — | — | |
| PointPillarsLiDAR placement strategy=Ours2024.03 | 40.1 | — | — | — | — | — | — | |
| PointPillarsLiDAR placement strategy=Square2024.03 | 40 | — | — | — | — | — | — | |
| PointPillarsLiDAR placement strategy=Trapezoid2024.03 | 40 | — | — | — | — | — | — | |
| PointPillarsLiDAR placement strategy=Line2024.03 | 39.6 | — | — | — | — | — | — | |
| BEVFusion-LLiDAR placement strategy=Square2024.03 | 39.4 | — | — | — | — | — | — | |
| BEVFusion-LLiDAR placement strategy=Trapezoid2024.03 | 39.2 | — | — | — | — | — | — | |
| PointPillarsLiDAR placement strategy=Pyramid-Roll2024.03 | 39.1 | — | — | — | — | — | — | |
| PointPillarsLiDAR placement strategy=Pyramid2024.03 | 38.7 | — | — | — | — | — | — | |
| BEVFusion-LLiDAR placement strategy=Line-Roll2024.03 | 38.3 | — | — | — | — | — | — | |
| BEVFusion-LLiDAR placement strategy=Pyramid2024.03 | 38.1 | — | — | — | — | — | — | |
| BEVFusion-LLiDAR placement strategy=Line2024.03 | 38 | — | — | — | — | — | — | |
| BEVFusion-LLiDAR placement strategy=Center2024.03 | 36.8 | — | — | — | — | — | — | |
| PointPillarsLiDAR placement strategy=Center2024.03 | 36.3 | — | — | — | — | — | — | |
| FSTRPlacement=Ours2024.03 | 32.1 | 25.1 | 47.5 | 28.8 | 32.1 | 30.6 | 28.2 | |
| FSTRPlacement=Pyramid-Roll2024.03 | 31.1 | 26.3 | 47.2 | 22.9 | 33.5 | 28.1 | 28.8 | |
| FSTRPlacement=Pyramid2024.03 | 30.9 | 25.8 | 44.8 | 24 | 33.4 | 28.5 | 28.7 | |
| CenterPointPlacement=Ours2024.03 | 29.5 | 22.3 | 51.1 | 23.1 | 27.7 | 29 | 23.6 | |
| CenterPointLiDAR placement strategy=Ours2024.03 | 29.5 | — | — | — | — | — | — | |
| CenterPointPlacement=Pyramid2024.03 | 29.4 | 26 | 49.6 | 21.1 | 28.6 | 24.9 | 25.9 | |
| CenterPointLiDAR placement strategy=Pyramid2024.03 | 29.4 | — | — | — | — | — | — | |
| FSTRPlacement=Center2024.03 | 29.2 | 23.8 | 44.1 | 30.7 | 25.4 | 25 | 25.9 | |
| PointPillarsPlacement=Pyramid2024.03 | 28.9 | 17.2 | 38.7 | 36.1 | 29.2 | 26.3 | 25.8 | |
| PointPillarsPlacement=Ours2024.03 | 28.9 | 18.3 | 40.1 | 36.4 | 26.5 | 26.4 | 25.8 | |
| PointPillarsLiDAR placement strategy=Pyramid2024.03 | 28.9 | — | — | — | — | — | — | |
| PointPillarsLiDAR placement strategy=Ours2024.03 | 28.9 | — | — | — | — | — | — | |
| FSTRPlacement=Trapezoid2024.03 | 28.7 | 22.9 | 46.9 | 26 | 26.5 | 23.4 | 26.5 | |
| FSTRPlacement=Square2024.03 | 28.6 | 23.7 | 47.2 | 23.4 | 25.1 | 23.1 | 29 | |
| CenterPointPlacement=Center2024.03 | 28.4 | 23.2 | 47.3 | 18.9 | 27.3 | 31.6 | 22.3 | |
| CenterPointLiDAR placement strategy=Center2024.03 | 28.4 | — | — | — | — | — | — | |
| PointPillarsPlacement=Center2024.03 | 28.3 | 17.1 | 36.3 | 37.4 | 27.1 | 25.7 | 26.2 | |
| PointPillarsLiDAR placement strategy=Center2024.03 | 28.3 | — | — | — | — | — | — | |
| CenterPointPlacement=Pyramid-Roll2024.03 | 28.1 | 24.8 | 49.2 | 15.9 | 29 | 24 | 25.5 | |
| CenterPointLiDAR placement strategy=Pyramid-Roll2024.03 | 28.1 | — | — | — | — | — | — | |
| PointPillarsPlacement=Pyramid-Roll2024.03 | 28 | 17.5 | 39.1 | 33.7 | 27.3 | 25.1 | 25.2 | |
| PointPillarsLiDAR placement strategy=Pyramid-Roll2024.03 | 28 | — | — | — | — | — | — | |
| FSTRPlacement=Line2024.03 | 27.7 | 22.7 | 45.4 | 27 | 23.9 | 20.1 | 27 | |
| PointPillarsPlacement=Square2024.03 | 27.3 | 17.2 | 40 | 32.5 | 26.1 | 22.3 | 25.7 | |
| PointPillarsLiDAR placement strategy=Square2024.03 | 27.3 | — | — | — | — | — | — | |
| PointPillarsPlacement=Line-Roll2024.03 | 26.9 | 15.2 | 40.3 | 33.7 | 26.9 | 20 | 25.3 | |
| PointPillarsLiDAR placement strategy=Line-Roll2024.03 | 26.9 | — | — | — | — | — | — | |
| FSTRPlacement=Line-Roll2024.03 | 26.6 | 21 | 46.2 | 24.2 | 24.1 | 16.2 | 27.8 | |
| PointPillarsPlacement=Line2024.03 | 26.3 | 15.1 | 39.6 | 33.6 | 27.1 | 16.9 | 25.2 | |
| PointPillarsLiDAR placement strategy=Line2024.03 | 26.3 | — | — | — | — | — | — | |
| PointPillarsPlacement=Trapezoid2024.03 | 26.1 | 16 | 40 | 31.3 | 25.9 | 18.6 | 24.9 | |
| BEVFusion-LPlacement=Ours2024.03 | 26.1 | 21.8 | 41.3 | 15.9 | 32 | 22.9 | 22.7 | |
| PointPillarsLiDAR placement strategy=Trapezoid2024.03 | 26.1 | — | — | — | — | — | — | |
| BEVFusion-LLiDAR placement strategy=Ours2024.03 | 26.1 | — | — | — | — | — | — | |
| BEVFusion-LPlacement=Trapezoid2024.03 | 25.8 | 19.2 | 39.2 | 19.8 | 26.9 | 27.2 | 22.6 | |
| BEVFusion-LLiDAR placement strategy=Trapezoid2024.03 | 25.8 | — | — | — | — | — | — | |
| BEVFusion-LPlacement=Pyramid2024.03 | 24.7 | 20.8 | 38.1 | 15 | 29.1 | 23.7 | 21.6 | |
| BEVFusion-LLiDAR placement strategy=Pyramid2024.03 | 24.7 | — | — | — | — | — | — | |
| CenterPointPlacement=Square2024.03 | 24.1 | 23.4 | 50.2 | 19.2 | 13 | 14 | 24.6 | |
| CenterPointLiDAR placement strategy=Square2024.03 | 24.1 | — | — | — | — | — | — | |
| BEVFusion-LPlacement=Pyramid-Roll2024.03 | 23.9 | 22.8 | 40.3 | 5.2 | 30.3 | 22.9 | 21.8 | |
| BEVFusion-LLiDAR placement strategy=Pyramid-Roll2024.03 | 23.9 | — | — | — | — | — | — | |
| CenterPointPlacement=Trapezoid2024.03 | 23.2 | 22.1 | 51.7 | 14.6 | 15.3 | 11.6 | 23.9 | |
| CenterPointLiDAR placement strategy=Trapezoid2024.03 | 23.2 | — | — | — | — | — | — | |
| CenterPointPlacement=Line2024.03 | 22.6 | 20.2 | 49.2 | 22.8 | 9.7 | 12 | 21.5 | |
| CenterPointLiDAR placement strategy=Line2024.03 | 22.6 | — | — | — | — | — | — | |
| BEVFusion-LPlacement=Square2024.03 | 22.3 | 20.7 | 39.4 | 7.3 | 23.6 | 20.1 | 22.7 | |
| BEVFusion-LLiDAR placement strategy=Square2024.03 | 22.3 | — | — | — | — | — | — | |
| CenterPointPlacement=Line-Roll2024.03 | 22.2 | 19.6 | 49.6 | 16 | 15.5 | 9.5 | 23.2 | |
| CenterPointLiDAR placement strategy=Line-Roll2024.03 | 22.2 | — | — | — | — | — | — | |
| BEVFusion-LPlacement=Line2024.03 | 21.9 | 18.6 | 38 | 12.2 | 23.6 | 17.2 | 21.6 | |
| BEVFusion-LLiDAR placement strategy=Line2024.03 | 21.9 | — | — | — | — | — | — | |
| BEVFusion-LPlacement=Center2024.03 | 20.8 | 19.2 | 36.8 | 27 | 12.8 | 8.3 | 20.9 | |
| BEVFusion-LLiDAR placement strategy=Center2024.03 | 20.8 | — | — | — | — | — | — | |
| BEVFusion-LPlacement=Line-Roll2024.03 | 19.5 | 15.2 | 38.3 | 11.2 | 19.5 | 10.7 | 21.9 | |
| BEVFusion-LLiDAR placement strategy=Line-Roll2024.03 | 19.5 | — | — | — | — | — | — |