3D Object Detection on STF heavy snowfall (test)
41.79AP (0-80m)PV-RCNN
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| PV-RCNNSimulation method=Ours-snow+wet2022.03 | 41.79 | 68.39 | 37.14 | 8.85 | — | — | — | |
| PV-RCNNSimulation method=Ours-snow2022.03 | 41.61 | 67.44 | 37.47 | 8.84 | — | — | — | |
| VoxelRCNN-CarSimulation method=Ours-snow2022.03 | 41.2 | 68.27 | 37.18 | 7.9 | — | — | — | |
| VoxelRCNN-CarSimulation method=Ours-snow+wet2022.03 | 40.76 | 66.58 | 37.74 | 7.78 | — | — | — | |
| VoxelRCNN-CarSimulation method=Ours-wet2022.03 | 40.28 | 67.37 | 36.03 | 6.95 | — | — | — | |
| CenterPointSimulation method=Ours-snow+wet2022.03 | 40.14 | 65.54 | 37.2 | 8.41 | — | — | — | |
| VoxelRCNN-CarSimulation method=Fog [16]2022.03 | 40.06 | 65.58 | 36.78 | 7.33 | — | — | — | |
| PV-RCNNSimulation method=Ours-wet2022.03 | 40.03 | 65.34 | 35.82 | 9.31 | — | — | — | |
| CenterPointSimulation method=Ours-snow2022.03 | 39.81 | 64.75 | 35.77 | 9.06 | — | — | — | |
| PV-RCNNSimulation method=None2022.03 | 39.69 | 65.05 | 36.14 | 8.03 | — | — | — | |
| VoxelRCNN-CarSimulation method=None2022.03 | 39.47 | 65.14 | 36.29 | 6.83 | — | — | — | |
| PV-RCNNSimulation method=LISA [22]2022.03 | 39.21 | 64.21 | 35.34 | 8.64 | — | — | — | |
| VoxelRCNN-CarSimulation method=LISA [22]2022.03 | 39.06 | 66.61 | 33.56 | 6.93 | — | — | — | |
| CenterPointSimulation method=Ours-wet2022.03 | 39.03 | 63.17 | 36.08 | 7.69 | — | — | — | |
| CenterPointSimulation method=Fog [16]2022.03 | 38.82 | 64.43 | 33.7 | 8.69 | — | — | — | |
| CenterPointSimulation method=None2022.03 | 38.68 | 63.5 | 34.2 | 8.23 | — | — | — | |
| PV-RCNNSimulation method=DROR [6]2022.03 | 38.57 | 64.27 | 35.4 | 8.07 | — | — | — | |
| CenterPointSimulation method=DROR [6]2022.03 | 38.42 | 64.47 | 34.31 | 8.27 | — | — | — | |
| PV-RCNNSimulation method=Fog [16]2022.03 | 38.19 | 64.72 | 33.38 | 7.49 | — | — | — | |
| VoxelRCNN-CarSimulation method=DROR [6]2022.03 | 38.16 | 64.97 | 33.23 | 6.83 | — | — | — | |
| CenterPointSimulation method=LISA [22]2022.03 | 38.11 | 63.74 | 33.58 | 7.67 | — | — | — | |
| Part-A2Simulation method=Ours-snow2022.03 | 37.73 | 66.44 | — | 6.46 | — | — | — | |
| PointRCNNSimulation method=Ours-snow2022.03 | 37.59 | 63.99 | 33.63 | 6.15 | — | — | — | |
| Part-A2Simulation method=Ours-snow+wet2022.03 | 37.52 | 64.97 | 31.65 | 6.48 | — | — | — | |
| PointRCNNSimulation method=Ours-snow+wet2022.03 | 37.51 | 63.77 | 33.01 | 5.9 | — | — | — | |
| Part-A2Simulation method=Ours-wet2022.03 | 37.13 | 65.02 | 30.46 | 6.14 | — | — | — | |
| Part-A2Simulation method=LISA [22]2022.03 | 37.12 | 65.57 | 30.05 | 5.96 | — | — | — | |
| PointRCNNSimulation method=Ours-wet2022.03 | 37.07 | 62.92 | — | 6.38 | — | — | — | |
| SECONDSimulation method=Ours-snow+wet2022.03 | 37.03 | 64 | 31.06 | 7.05 | — | — | — | |
| SECONDSimulation method=Ours-snow2022.03 | 36.83 | 61.94 | 31.4 | 8.5 | — | — | — | |
| SECONDSimulation method=Ours-wet2022.03 | 36.79 | 61.18 | 32.48 | 8.86 | — | — | — | |
| PointRCNNSimulation method=None2022.03 | 36.68 | 61.74 | 33.25 | 6.14 | — | — | — | |
| PointRCNNSimulation method=LISA [22]2022.03 | 36.68 | 62.85 | 31.8 | 5.78 | — | — | — | |
| Part-A2Simulation method=None2022.03 | 36.59 | 63.5 | 30.17 | 6.86 | — | — | — | |
| PointRCNNSimulation method=Fog [16]2022.03 | 36.56 | 62.93 | 33.03 | 5.52 | — | — | — | |
| PointRCNNSimulation method=DROR [6]2022.03 | 36.14 | 62.64 | 31.64 | 5.28 | — | — | — | |
| SECONDSimulation method=None2022.03 | 36.08 | 61.53 | 30.92 | 6.6 | — | — | — | |
| SECONDSimulation method=Fog [16]2022.03 | 36.08 | 61.65 | 31.25 | 7.65 | — | — | — | |
| Part-A2Simulation method=Fog [16]2022.03 | 35.98 | 62.23 | 30.94 | 6.39 | — | — | — | |
| SECONDSimulation method=LISA [22]2022.03 | 35.9 | 59.31 | 32.81 | 7.44 | — | — | — | |
| Part-A2Simulation method=DROR [6]2022.03 | 35.85 | 65.36 | 27.99 | 6.13 | — | — | — | |
| SECONDSimulation method=DROR [6]2022.03 | 35.04 | 60.72 | — | 7.88 | — | — | — | |
| PointPillarsSimulation method=Ours-snow2022.03 | 32.94 | 54.21 | — | 7.81 | — | — | — | |
| PointPillarsSimulation method=Ours-wet2022.03 | 31.58 | 52.81 | — | 6.93 | — | — | — | |
| PointPillarsSimulation method=Ours-snow+wet2022.03 | 31.38 | 54.09 | — | 6.14 | — | — | — | |
| WeatherGen2025.04 | 30.98 | 53.68 | 25.98 | 5.33 | 72.48 | 39.51 | 38.66 | |
| PointPillarsSimulation method=None2022.03 | 30.85 | 52.45 | — | 5.59 | — | — | — | |
| PointPillarsSimulation method=Fog [16]2022.03 | 30.39 | 52.13 | — | 5.71 | — | — | — | |
| FSRL2025.04 | 30.03 | 51.92 | 23.95 | 5.54 | 71.62 | 33.23 | 37.38 | |
| LSS2025.04 | 29.97 | 52.24 | 25.15 | 5.26 | 73.92 | 34.09 | 37.66 | |
| DROR2025.04 | 29.41 | 54.01 | 21.97 | 5.1 | 69.22 | 29.31 | 37.3 | |
| PointPillarsSimulation method=DROR [6]2022.03 | 29.32 | 54.52 | — | 4.82 | — | — | — | |
| PointPillarsSimulation method=LISA [22]2022.03 | 28.7 | 49.78 | — | 5.63 | — | — | — | |
| LISA2025.04 | 28.22 | 49.96 | 25.01 | 5.32 | 72.23 | 36.28 | 38.07 | |
| NoneDescription=Baseline without simulation-based augmentation2025.04 | 28.07 | 50.64 | 23.13 | 5.08 | 72.1 | 31.74 | 37.32 |