3D Object Detection on TJ4DRadSet (test)
47.66mAP3DRCGDet3D
Evaluation results
| Method | Links | |||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| RCGDet3DModality=R+C, FPS (Hz)=11.6, GPU=Tesla V1002026.05 | 47.66 | 56.96 | 36.29 | 70.51 | 26.88 | 69.33 | 38.81 | 73.3 | 34.88 | 54.08 | — | |
| R4DetModality=R+C2026.03 | 47.29 | 63.6 | 31.24 | 62.84 | 31.46 | — | — | — | — | — | — | |
| SIFormerModality=R+C, LiDAR depth supervision=true, Pseudo labels training=true2026.05 | 46.51 | 65.68 | 29.77 | 54.47 | 36.12 | 71.59 | 36.06 | 55.15 | 43.31 | 50.42 | — | |
| SIFormerModality=R+C, Pseudo labels training=true2026.05 | 43.15 | 61.12 | 27.18 | 46.11 | 38.22 | 68.3 | 31.47 | 46.46 | 45.64 | 47.96 | — | |
| OursModality=R+C2026.01 | 43.05 | 61.24 | 34.28 | 57.48 | 19.18 | — | — | — | — | — | — | |
| RaGSModality=R+C, LiDAR depth supervision=true, Pseudo labels training=true2026.05 | 41.95 | — | — | — | — | — | — | — | — | 51.04 | — | |
| SGDet3DYear=2025, Modality=R+C2026.01 | 41.82 | 59.43 | 26.57 | 51.3 | 30 | — | — | — | — | — | — | |
| SGDet3DModality=R+C2026.03 | 41.82 | 59.43 | 26.57 | 51.3 | 30 | — | — | — | — | — | — | |
| SGDet3DModality=R+C, LiDAR depth supervision=true, Pseudo labels training=true2026.05 | 41.82 | 59.43 | 26.57 | 51.3 | 30 | 66.38 | 29.18 | 53.72 | 39.36 | 47.16 | — | |
| MSSF-PPModality=R+C2026.05 | 41.75 | 52.04 | 35.11 | 55.72 | 24.14 | 64.31 | 38.39 | 60.08 | 30.86 | 48.41 | — | |
| CVFusionModality=R+C2026.03 | 40 | 51.54 | 29.49 | 49.41 | 29.55 | — | — | — | — | — | — | |
| CVFusionModality=R+C, FPS (Hz)=5.7, GPU=RTX 30902026.05 | 40 | 51.54 | 29.49 | 49.41 | 29.55 | 58.07 | 31.65 | 51.29 | 35.29 | 44.07 | — | |
| VBS2MBackbone=RCBEVDet, Transfer Direction=TJ4DRadSet -> VoD, Domain Setting=Source2026.06 | 38.31 | 49.35 | 25.42 | 40.17 | — | — | — | — | — | — | — | |
| RCDFNetYear=2025, Modality=R+C2026.01 | 37.93 | 42.52 | 33.77 | 55.89 | 19.51 | — | — | — | — | — | — | |
| UniBEVFusionYear=2025, Modality=R+C2026.01 | 37.76 | 44.26 | 27.92 | 51.11 | 27.75 | — | — | — | — | — | — | |
| OracleBackbone=RCBEVDet, Transfer Direction=VoD -> TJ4DRadSet, Domain Setting=Target2026.06 | 37.42 | 48.72 | 24.63 | 38.91 | — | — | — | — | — | — | — | |
| Source OnlyBackbone=RCBEVDet, Transfer Direction=TJ4DRadSet -> VoD, Domain Setting=Source2026.06 | 37.42 | 48.72 | 24.63 | 38.91 | — | — | — | — | — | — | — | |
| LXLv2Year=2023, Modality=R+C2026.01 | 37.32 | — | — | — | — | — | — | — | — | — | — | |
| LXLv2Modality=R+C2026.05 | 37.32 | — | — | — | — | — | — | — | — | 42.35 | — | |
| HGSFusionModality=R+C2024.12 | 37.21 | — | — | — | — | — | — | — | — | 43.23 | — | |
| HSGFusionYear=2025, Modality=R+C2026.01 | 37.21 | — | — | — | — | — | — | — | — | — | — | |
| DSFusionYear=2025, Modality=R+C2026.01 | 37.15 | 37.76 | 34.09 | 49.88 | 26.87 | — | — | — | — | — | — | |
| SPGBackbone=RCBEVDet, Transfer Direction=TJ4DRadSet -> VoD, Domain Setting=Source2026.06 | 36.91 | 48.05 | 24.31 | 38.37 | — | — | — | — | — | — | — | |
| VL2V-ADiPBackbone=RCBEVDet, Transfer Direction=TJ4DRadSet -> VoD, Domain Setting=Source2026.06 | 36.78 | 47.92 | 24.18 | 38.25 | — | — | — | — | — | — | — | |
| RadarGaussianDet3D+Modality=R, FPS (Hz)=43.1, GPU=Tesla V1002026.05 | 36.71 | 24.76 | 33.78 | 65.8 | 22.5 | 39.15 | 34.02 | 68.68 | 30.45 | 43.07 | — | |
| CPerbBackbone=RCBEVDet, Transfer Direction=TJ4DRadSet -> VoD, Domain Setting=Source2026.06 | 36.58 | 47.68 | 24.05 | 38.02 | — | — | — | — | — | — | — | |
| LXLModality=R+C2023.07 | 36.32 | — | — | — | — | — | — | — | — | 41.2 | — | |
| LXLModality=R+C2024.12 | 36.32 | — | — | — | — | — | — | — | — | 41.2 | — | |
| LXLYear=2023, Modality=R+C2026.01 | 36.32 | — | — | — | — | — | — | — | — | — | — | |
| LXLModality=R+C2026.03 | 36.32 | — | — | — | — | — | — | — | — | — | — | |
| LXLModality=R+C2026.05 | 36.32 | — | — | — | — | — | — | — | — | 41.2 | — | |
| DG-GCDBackbone=RCBEVDet, Transfer Direction=TJ4DRadSet -> VoD, Domain Setting=Source2026.06 | 36.26 | 47.31 | 23.82 | 37.64 | — | — | — | — | — | — | — | |
| BEVFusionYear=2023, Modality=R+C2026.01 | 35.63 | 38.09 | 29.45 | 51.26 | 23.73 | — | — | — | — | — | — | |
| SFGFusionYear=2025, Modality=R+C2026.01 | 35.57 | 33.05 | 27.01 | 55.12 | 27.1 | — | — | — | — | — | — | |
| MAFF-NetYear=2025, Modality=R2026.01 | 35.38 | 27.31 | 33.13 | 54.35 | 26.71 | — | — | — | — | — | — | |
| MAFF-NetModality=R, FPS (Hz)=17.9, GPU=RTX 40902026.05 | 35.38 | 27.31 | 33.13 | 54.35 | 26.71 | 39.05 | 35.25 | 56.35 | 35.73 | 41.59 | — | |
| RadarGaussianDet3DModality=R, FPS (Hz)=43.5, GPU=Tesla V1002026.05 | 35.08 | 26.69 | 28.18 | 65.84 | 19.63 | 41.66 | 30.28 | 69.62 | 26.35 | 41.98 | — | |
| Chen et al.Year=2025, Modality=R+C2026.01 | 34.61 | 36.89 | 28.29 | 49.64 | 23.62 | — | — | — | — | — | — | |
| LGDDModality=R2026.05 | 34.02 | 30.1 | 27.93 | 54.22 | 23.84 | 45.18 | 30.25 | 59.13 | 33.54 | 42.02 | — | |
| RCFusionModality=Camera + 4D Radar fusion, Radar scans=single-scan2023.07 | 33.85 | 29.72 | 27.17 | 54.93 | 23.56 | 40.89 | 30.95 | 58.3 | 28.92 | 39.76 | — | |
| RCFusionModality=R+C2023.07 | 33.85 | — | — | — | — | — | — | — | — | 39.76 | — | |
| RCFusionModality=R+C2024.12 | 33.85 | — | — | — | — | — | — | — | — | 39.76 | — | |
| RCFusionYear=2023, Modality=R+C2026.01 | 33.85 | 29.72 | 27.17 | 54.93 | 23.56 | — | — | — | — | — | — | |
| RCFusionModality=R+C2026.03 | 33.85 | 29.72 | 27.17 | 54.93 | 23.56 | — | — | — | — | — | — | |
| RCFusionModality=R+C, FPS (Hz)=4.7, GPU=RTX 30902026.05 | 33.85 | 29.72 | 27.17 | 54.93 | 23.56 | 40.89 | 30.95 | 58.3 | 28.92 | 39.76 | — | |
| FUTR3DYear=2023, Modality=R+C2026.01 | 33.42 | — | — | — | — | — | — | — | — | — | — | |
| SMURFModality=4D Radar-only, Radar scans=single-scan, Input features=x, y, z, Doppler, SNR2023.07 | 32.99 | 28.47 | 26.22 | 54.61 | 22.64 | 43.13 | 29.19 | 58.81 | 32.8 | 40.98 | — | |
| SMURFDetection Scan Mode=single scan, Input Features=x, y, z, Doppler, SNR2023.07 | 32.99 | 28.47 | 26.22 | 54.61 | 22.64 | — | — | — | — | — | — | |
| SMURFModality=R2024.12 | 32.99 | — | — | — | — | — | — | — | — | 40.98 | — | |
| SMURFYear=2023, Modality=R2026.01 | 32.99 | 28.47 | 26.22 | 54.61 | 22.64 | — | — | — | — | — | — | |
| SMURFModality=R2026.03 | 32.99 | 28.47 | 26.22 | 54.61 | 22.64 | — | — | — | — | — | — | |
| SMURFModality=R, FPS (Hz)=23.1, GPU=Tesla V1002026.05 | 32.99 | 28.47 | 26.22 | 54.61 | 22.64 | 43.13 | 29.19 | 58.81 | 32.8 | 40.98 | — | |
| BEVFusionModality=R+C2023.07 | 32.71 | — | — | — | — | — | — | — | — | 41.12 | — | |
| BEVFusionModality=R+C2024.12 | 32.71 | — | — | — | — | — | — | — | — | 41.12 | — | |
| BEVFusionModality=R+C2026.03 | 32.71 | — | — | — | — | — | — | — | — | — | — | |
| FUTR3DModality=R+C2023.07 | 32.42 | — | — | — | — | — | — | — | — | 37.51 | — | |
| FUTR3DModality=R+C2024.12 | 32.42 | — | — | — | — | — | — | — | — | 37.51 | — | |
| FUTR3DModality=R+C2026.03 | 32.42 | — | — | — | — | — | — | — | — | — | — | |
| RCBEVDetYear=2024, Modality=R+C2026.01 | 31.12 | 29.38 | 28.13 | 49.6 | 17.37 | — | — | — | — | — | — | |
| LXL - RModality=R2023.07 | 30.79 | — | — | — | — | — | — | — | — | 38.42 | — | |
| RadarPillarNetDetection Scan Mode=single scan2023.07 | 30.37 | 28.45 | 26.24 | 51.57 | 15.2 | — | — | — | — | — | — | |
| RadarPillarNetModality=R2023.07 | 30.37 | — | — | — | — | — | — | — | — | 39.24 | — | |
| RadarPillarNetModality=R2024.12 | 30.37 | — | — | — | — | — | — | — | — | 39.24 | — | |
| RadarPillarNetYear=2023, Modality=R2026.01 | 30.37 | 28.45 | 26.24 | 51.57 | 15.2 | — | — | — | — | — | — | |
| RadarPillarNetModality=R2026.03 | 30.37 | 28.45 | 26.24 | 51.57 | 15.2 | — | — | — | — | — | — | |
| RPFA-NetDetection Scan Mode=single scan2023.07 | 29.91 | 26.89 | 27.36 | 50.95 | 14.46 | — | — | — | — | — | — | |
| RPFA-NetModality=R2023.07 | 29.91 | — | — | — | — | — | — | — | — | 38.94 | — | |
| RPFA-NetModality=R2024.12 | 29.91 | — | — | — | — | — | — | — | — | 38.94 | — | |
| PillarNeXtDetection Scan Mode=single scan2023.07 | 29.2 | 22.33 | 23.48 | 53.01 | 17.99 | — | — | — | — | — | — | |
| CenterPointDetection Scan Mode=single scan2023.07 | 29.07 | 22.03 | 25.02 | 53.32 | 15.92 | — | — | — | — | — | — | |
| CenterPointYear=2021, Modality=R2026.01 | 29.07 | 22.03 | 25.02 | 53.32 | 15.92 | — | — | — | — | — | — | |
| CenterPointModality=R2026.03 | 29.07 | 22.03 | 25.02 | 53.32 | 15.92 | — | — | — | — | — | — | |
| PointAugmentingYear=2021, Modality=R+C2026.01 | 28.94 | 22.63 | 26.23 | 53.52 | 13.37 | — | — | — | — | — | — | |
| MUFASAYear=2024, Modality=R2026.01 | 28.87 | 27.86 | 25.42 | 42.58 | 19.61 | — | — | — | — | — | — | |
| PointPillarsDetection Scan Mode=single scan2023.07 | 28.31 | 21.26 | 28.33 | 52.47 | 11.18 | — | — | — | — | — | — | |
| PointPillarsYear=2019, Modality=R2026.01 | 28.31 | 21.26 | 28.33 | 52.47 | 11.18 | — | — | — | — | — | — | |
| PointPillarsModality=R2026.03 | 28.31 | 21.26 | 28.33 | 52.47 | 11.18 | — | — | — | — | — | — | |
| PointPillarsModality=R, FPS (Hz)=42.9, GPU=Tesla V1002026.05 | 28.31 | 21.26 | 28.33 | 52.47 | 11.18 | 38.34 | 32.26 | 56.11 | 18.19 | 36.23 | — | |
| VBS2MBackbone=RCBEVDet, Transfer Direction=VoD -> TJ4DRadSet, Domain Setting=Target2026.06 | 27.12 | 34.08 | 17.42 | 29.86 | — | — | — | — | — | — | — | |
| VL2V-ADiPBackbone=RCBEVDet, Transfer Direction=VoD -> TJ4DRadSet, Domain Setting=Target2026.06 | 23.57 | 30.12 | 14.86 | 25.74 | — | — | — | — | — | — | — | |
| SPGBackbone=RCBEVDet, Transfer Direction=VoD -> TJ4DRadSet, Domain Setting=Target2026.06 | 23.17 | 29.76 | 14.58 | 25.18 | — | — | — | — | — | — | — | |
| CPerbBackbone=RCBEVDet, Transfer Direction=VoD -> TJ4DRadSet, Domain Setting=Target2026.06 | 22.96 | 29.55 | 14.37 | 24.96 | — | — | — | — | — | — | — | |
| DG-GCDBackbone=RCBEVDet, Transfer Direction=VoD -> TJ4DRadSet, Domain Setting=Target2026.06 | 22.75 | 29.37 | 14.18 | 24.71 | — | — | — | — | — | — | — | |
| Source OnlyBackbone=RCBEVDet, Transfer Direction=VoD -> TJ4DRadSet, Domain Setting=Target2026.06 | 22.71 | 29.84 | 13.92 | 24.36 | — | — | — | — | — | — | — | |
| CenterPointDetection Scan Mode=single scan2023.07 | — | — | — | — | — | 33.03 | 27.87 | 58.74 | 25.09 | 36.18 | — | |
| CenterPoint2023.07 | — | — | — | — | — | — | — | — | — | — | 34.5 | |
| PillarNeXtDetection Scan Mode=single scan2023.07 | — | — | — | — | — | 36.84 | 25.17 | 57.07 | 23.76 | 35.71 | — | |
| PillarNeXt2023.07 | — | — | — | — | — | — | — | — | — | — | 28 | |
| PointPillarsDetection Scan Mode=single scan2023.07 | — | — | — | — | — | 38.34 | 32.26 | 56.11 | 18.19 | 36.23 | — | |
| PointPillars2023.07 | — | — | — | — | — | — | — | — | — | — | 42.9 | |
| RadarPillarNetDetection Scan Mode=single scan2023.07 | — | — | — | — | — | 45.72 | 29.19 | 56.89 | 25.17 | 39.24 | — | |
| RPFA-NetDetection Scan Mode=single scan2023.07 | — | — | — | — | — | 42.89 | 29.81 | 57.09 | 25.98 | 38.94 | — | |
| SMURFDetection Scan Mode=single scan, Input Features=x, y, z, Doppler, SNR2023.07 | — | — | — | — | — | 43.13 | 29.19 | 58.81 | 32.8 | 40.98 | — | |
| SMURFinput_features=x, y, z, Doppler, SNR2023.07 | — | — | — | — | — | — | — | — | — | — | 23.1 |