3D Object Detection on Waymo 1% label (val)
61.5Vehicle (L1) APPTPM
Evaluation results
| Method | Links | ||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| PTPMThreshold=Manual, Base Detector=PV-RCNN2025.09 | 61.5 | 59.8 | 53.7 | 52.2 | 43.1 | 22.3 | 36.3 | 18.8 | 35.7 | 17.9 | 35.7 | 34.3 | |
| OursThreshold=Auto, Base Detector=Voxel-RCNN2025.09 | 58.8 | 57.3 | 51.1 | 49.8 | 30.6 | 16.5 | 25.5 | 13.8 | 34.8 | 22.3 | 33.5 | 21.4 | |
| A-TeacherThreshold=Manual, Base Detector=PV-RCNN, additional video information=true2025.09 | 56.5 | 54.5 | 49.2 | 47.5 | 48.1 | 27.3 | 40.8 | 23.1 | 35.1 | 27.1 | 33.7 | 26.1 | |
| HSSDAThreshold=Auto, Base Detector=PV-RCNN2025.09 | 56.4 | 53.8 | 49.7 | 47.3 | 40.1 | 20.9 | 33.5 | 17.5 | 29.1 | 20.9 | 27.9 | 20 | |
| HSSDAThreshold=Auto, Base Detector=Voxel-RCNN2025.09 | 54.9 | 54.1 | 48.3 | 47.5 | 43.9 | 37.8 | 36.6 | 31.6 | 17.5 | 16.7 | 16.7 | 16 | |
| DetMatchThreshold=Manual, Base Detector=PV-RCNN2025.09 | 52.2 | 51.1 | 48.1 | 47.2 | 39.5 | 18.9 | 35.8 | 17.1 | — | — | — | — | |
| Voxel-RCNNThreshold=Detector, Base Detector=Voxel-RCNN2025.09 | 49 | 48 | 42.4 | 41.5 | 41.2 | 32.8 | 34.7 | 27.7 | 5.8 | 5.6 | 5.6 | 5.4 | |
| PV-RCNNThreshold=Detector, Base Detector=PV-RCNN2025.09 | 48.5 | 46.2 | 45.5 | 43.3 | 30.1 | 15.7 | 27.3 | 15.9 | 4.5 | 3 | 4.3 | 2.9 |