3D Object Detection on Place3D (clean)
57.1mAP (Car)CenterPoint
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| CenterPointPlacement=Ours2024.03 | 57.1 | 34.4 | 37.3 | — | |
| FSTRPlacement=Ours2024.03 | 56.6 | 31.9 | 34.1 | — | |
| CenterPointPlacement=Pyramid-Roll2024.03 | 56.2 | 36.5 | 35.9 | — | |
| CenterPointPlacement=Pyramid2024.03 | 55.9 | 37.4 | 35.6 | — | |
| CenterPointPlacement=Center2024.03 | 55.8 | 28.7 | 28.8 | — | |
| FSTRPlacement=Pyramid2024.03 | 55.7 | 29.4 | 33.8 | — | |
| FSTRPlacement=Pyramid-Roll2024.03 | 55.5 | 29.9 | 32 | — | |
| CenterPointPlacement=Trapezoid2024.03 | 55.4 | 35.6 | 37.5 | — | |
| FSTRPlacement=Center2024.03 | 55.3 | 27.7 | 29.3 | — | |
| CenterPointPlacement=Line-Roll2024.03 | 55.2 | 32.7 | 37.2 | — | |
| FSTRPlacement=Trapezoid2024.03 | 54.6 | 30 | 33.3 | — | |
| CenterPointPlacement=Line2024.03 | 54 | 34.2 | 37.7 | — | |
| CenterPointPlacement=Square2024.03 | 54 | 35.5 | 34.1 | — | |
| FSTRPlacement=Line-Roll2024.03 | 53.5 | 29.8 | 32.4 | — | |
| BEVFusion-LPlacement=Ours2024.03 | 53 | 28.7 | 29.5 | — | |
| FSTRPlacement=Square2024.03 | 52.8 | 30.3 | 31.3 | — | |
| BEVFusion-LPlacement=Center2024.03 | 52.5 | 31.9 | 32.2 | — | |
| FSTRPlacement=Line2024.03 | 51.9 | 30.2 | 33 | — | |
| BEVFusion-LPlacement=Pyramid2024.03 | 51 | 21.7 | 27.9 | — | |
| BEVFusion-LPlacement=Line-Roll2024.03 | 50.8 | 29.4 | 29.5 | — | |
| BEVFusion-LPlacement=Pyramid-Roll2024.03 | 50.7 | 22.7 | 28.2 | — | |
| BEVFusion-LPlacement=Trapezoid2024.03 | 50.2 | 30 | 31.7 | — | |
| BEVFusion-LPlacement=Line2024.03 | 49.3 | 29 | 29.5 | — | |
| BEVFusion-LPlacement=Square2024.03 | 49.2 | 27 | 26.7 | — | |
| PointPillarsPlacement=Ours2024.03 | 46.8 | 24.9 | 27.2 | — | |
| PointPillarsPlacement=Center2024.03 | 46.5 | 19.4 | 27.1 | — | |
| PointPillarsPlacement=Pyramid2024.03 | 46.1 | 24.4 | 29 | — | |
| PointPillarsPlacement=Pyramid-Roll2024.03 | 46.1 | 23.6 | 27.9 | — | |
| PointPillarsPlacement=Line-Roll2024.03 | 44.6 | 21.3 | 27 | — | |
| PointPillarsPlacement=Square2024.03 | 43.8 | 20.8 | 27.1 | — | |
| PointPillarsPlacement=Trapezoid2024.03 | 43.5 | 21.5 | 27.3 | — | |
| PointPillarsPlacement=Line2024.03 | 43.4 | 22 | 27.7 | — | |
| BEVFusion-LLiDAR placement strategy=Center2024.03 | — | — | — | 52.5 | |
| BEVFusion-LLiDAR placement strategy=Line2024.03 | — | — | — | 49.3 | |
| BEVFusion-LLiDAR placement strategy=Pyramid2024.03 | — | — | — | 51 | |
| BEVFusion-LLiDAR placement strategy=Square2024.03 | — | — | — | 49.2 | |
| BEVFusion-LLiDAR placement strategy=Trapezoid2024.03 | — | — | — | 50.2 | |
| BEVFusion-LLiDAR placement strategy=Line-Roll2024.03 | — | — | — | 50.8 | |
| BEVFusion-LLiDAR placement strategy=Pyramid-Roll2024.03 | — | — | — | 50.7 | |
| BEVFusion-LLiDAR placement strategy=Ours2024.03 | — | — | — | 53 | |
| CenterPointLiDAR placement strategy=Center2024.03 | — | — | — | 55.8 | |
| CenterPointLiDAR placement strategy=Line2024.03 | — | — | — | 54 | |
| CenterPointLiDAR placement strategy=Pyramid2024.03 | — | — | — | 55.9 | |
| CenterPointLiDAR placement strategy=Square2024.03 | — | — | — | 54 | |
| CenterPointLiDAR placement strategy=Trapezoid2024.03 | — | — | — | 56.4 | |
| CenterPointLiDAR placement strategy=Line-Roll2024.03 | — | — | — | 55.2 | |
| CenterPointLiDAR placement strategy=Pyramid-Roll2024.03 | — | — | — | 56.2 | |
| CenterPointLiDAR placement strategy=Ours2024.03 | — | — | — | 57.1 | |
| PointPillarsLiDAR placement strategy=Center2024.03 | — | — | — | 46.5 | |
| PointPillarsLiDAR placement strategy=Line2024.03 | — | — | — | 43.4 | |
| PointPillarsLiDAR placement strategy=Pyramid2024.03 | — | — | — | 46.1 | |
| PointPillarsLiDAR placement strategy=Square2024.03 | — | — | — | 43.8 | |
| PointPillarsLiDAR placement strategy=Trapezoid2024.03 | — | — | — | 43.5 | |
| PointPillarsLiDAR placement strategy=Line-Roll2024.03 | — | — | — | 44.6 | |
| PointPillarsLiDAR placement strategy=Pyramid-Roll2024.03 | — | — | — | 46.1 | |
| PointPillarsLiDAR placement strategy=Ours2024.03 | — | — | — | 46.8 |