# 3D Object Detection on TJ4DRadSet RaCFormer base (target)

Source: [3D Object Detection on TJ4DRadSet RaCFormer base (target)](<https://www.sota2.com/research/sota/3d-object-detection-on-tj4dradset-racformer-base-target>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-06-11T10:06:23.700Z

Evaluation of 3D Object Detection performance on the TJ4DRadSet dataset using the RaCFormer base configuration, reporting class-specific metrics (Car, Pedestrian, Cyclist) and overall mAP.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | 3D Object Detection |
| Dataset (including any stated split) | TJ4DRadSet RaCFormer base (target) |
| Metric | Car AP |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 7 of 7 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [Car AP](<https://www.sota2.com/research/sota/3d-object-detection-on-tj4dradset-racformer-base-target.md?metric=Car%20AP>): Higher is better; unit: PERCENT.

- [Pedestrian AP](<https://www.sota2.com/research/sota/3d-object-detection-on-tj4dradset-racformer-base-target.md?metric=Pedestrian%20AP>): Higher is better; unit: PERCENT.

- [Cyclist AP](<https://www.sota2.com/research/sota/3d-object-detection-on-tj4dradset-racformer-base-target.md?metric=Cyclist%20AP>): Higher is better; unit: PERCENT.

- [mAP](<https://www.sota2.com/research/sota/3d-object-detection-on-tj4dradset-racformer-base-target.md?metric=mAP>): Higher is better; unit: PERCENT.

## Recorded results

| Method | Car AP | Result date | Report paper |
| --- | --- | --- | --- |
| Oracle | 53.36 | Not recorded | 6a2a4130d33dfb23e78393d0 |
| VBS2M | 39.04 | Not recorded | 6a2a4130d33dfb23e78393d0 |
| Source Only | 34.28 | Not recorded | 6a2a4130d33dfb23e78393d0 |
| VL2V-ADiP | 34.19 | Not recorded | 6a2a4130d33dfb23e78393d0 |
| SPG | 34.07 | Not recorded | 6a2a4130d33dfb23e78393d0 |
| CPerb | 33.96 | Not recorded | 6a2a4130d33dfb23e78393d0 |
| DG-GCD | 33.72 | Not recorded | 6a2a4130d33dfb23e78393d0 |

### Oracle

Car AP: 53.36. Result ID: 6a2a8842fbc373592c283b73.

[Reporting paper](<https://www.sota2.com/research/paper/6a2a4130d33dfb23e78393d0.md>)

Recorded evaluation configuration: {"Backbone":"RaCFormer"}. This record does not assert independent reproduction.

### VBS2M

Car AP: 39.04. Result ID: 6a2a8842fbc373592c283b79.

[Reporting paper](<https://www.sota2.com/research/paper/6a2a4130d33dfb23e78393d0.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6a2a4130d33dfb23e78393d0.md>)

Recorded evaluation configuration: {"Backbone":"RaCFormer"}. This record does not assert independent reproduction.

### Source Only

Car AP: 34.28. Result ID: 6a2a8842fbc373592c283b74.

[Reporting paper](<https://www.sota2.com/research/paper/6a2a4130d33dfb23e78393d0.md>)

Recorded evaluation configuration: {"Backbone":"RaCFormer"}. This record does not assert independent reproduction.

### VL2V-ADiP

Car AP: 34.19. Result ID: 6a2a8842fbc373592c283b78.

[Reporting paper](<https://www.sota2.com/research/paper/6a2a4130d33dfb23e78393d0.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa72711e209131cea565a1.md>)

[Implementation](<https://github.com/val-iisc/VL2V-ADiP.git>)

Recorded evaluation configuration: {"Backbone":"RaCFormer"}. This record does not assert independent reproduction.

### SPG

Car AP: 34.07. Result ID: 6a2a8842fbc373592c283b77.

[Reporting paper](<https://www.sota2.com/research/paper/6a2a4130d33dfb23e78393d0.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6a8b1e209131cea28a9a.md>)

Recorded evaluation configuration: {"Backbone":"RaCFormer"}. This record does not assert independent reproduction.

### CPerb

Car AP: 33.96. Result ID: 6a2a8842fbc373592c283b76.

[Reporting paper](<https://www.sota2.com/research/paper/6a2a4130d33dfb23e78393d0.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa738e1e209131cea5d33f.md>)

Recorded evaluation configuration: {"Backbone":"RaCFormer"}. This record does not assert independent reproduction.

### DG-GCD

Car AP: 33.72. Result ID: 6a2a8842fbc373592c283b75.

[Reporting paper](<https://www.sota2.com/research/paper/6a2a4130d33dfb23e78393d0.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77941e209131cea741c5.md>)

Recorded evaluation configuration: {"Backbone":"RaCFormer"}. This record does not assert independent reproduction.

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