3D Object Detection on Waymo LEVEL 2
65.54AP H3D OverallOriginal Data
Evaluation results
| Method | Links | ||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Original DataDetection Model=VoxelRCNN2025.03 | 65.54 | — | — | — | — | — | — | — | — | — | — | — | |
| Original DataDetection Model=PVRCNN2025.03 | 65.34 | — | — | — | — | — | — | — | — | — | — | — | |
| Original DataDetection Model=CenterPoint2025.03 | 62.39 | — | — | — | — | — | — | — | — | — | — | — | |
| Original DataDetection Model=PointPillar2025.03 | 56.04 | — | — | — | — | — | — | — | — | — | — | — | |
| ConcreTizerDetection Model=PVRCNN2025.03 | 43.69 | — | — | — | — | — | — | — | — | — | — | — | |
| ConcreTizerDetection Model=PointPillar2025.03 | 42.45 | — | — | — | — | — | — | — | — | — | — | — | |
| ConcreTizerDetection Model=CenterPoint2025.03 | 41.07 | — | — | — | — | — | — | — | — | — | — | — | |
| ConcreTizerDetection Model=VoxelRCNN2025.03 | 41 | — | — | — | — | — | — | — | — | — | — | — | |
| UltraLiDARDetection Model=PointPillar2025.03 | 23.28 | — | — | — | — | — | — | — | — | — | — | — | |
| UltraLiDARDetection Model=VoxelRCNN2025.03 | 21.79 | — | — | — | — | — | — | — | — | — | — | — | |
| UltraLiDARDetection Model=CenterPoint2025.03 | 19.44 | — | — | — | — | — | — | — | — | — | — | — | |
| UltraLiDARDetection Model=PVRCNN2025.03 | 16.02 | — | — | — | — | — | — | — | — | — | — | — | |
| Mono3DVIoU Threshold=0.5, Extra=None2026.01 | 12.76 | — | — | — | — | 12.92 | 34.65 | 5.93 | 1.48 | 34.08 | 5.87 | 1.46 | |
| MonoDGPIoU Threshold=0.5, Extra=None2026.01 | 11.56 | — | — | — | — | 11.71 | 31.02 | 5.61 | 1.17 | 30.58 | 5.54 | 1.15 | |
| MonoUNIIoU Threshold=0.5, Extra=None2026.01 | 10.24 | — | — | — | — | 10.38 | 26.57 | 3.95 | 0.53 | 26.24 | 3.89 | 0.51 | |
| DEVIANTIoU Threshold=0.5, Extra=None2026.01 | 10.2 | — | — | — | — | 10.29 | 26.75 | 4.95 | 0.16 | 26.54 | 4.9 | 0.16 | |
| GUPNetIoU Threshold=0.5, Extra=None2026.01 | 9.31 | — | — | — | — | 9.39 | 24.69 | 4.67 | 0.19 | 24.5 | 4.62 | 0.19 | |
| Mono3DVIoU Threshold=0.7, Extra=None2026.01 | 4.46 | — | — | — | — | 4.55 | 10.89 | 1.31 | 0.17 | 10.68 | 1.2 | 0.17 | |
| PCTIoU Threshold=0.5, Extra=Depth2026.01 | 4.15 | — | — | — | — | 4.03 | 14.67 | 1.74 | 0.36 | 14.51 | 1.71 | 0.35 | |
| MonoDGPIoU Threshold=0.7, Extra=None2026.01 | 3.96 | — | — | — | — | 4 | 10.2 | 1.13 | 0.15 | 10.08 | 1.12 | 0.15 | |
| M3D-RPNIoU Threshold=0.5, Extra=None2026.01 | 3.46 | — | — | — | — | 3.61 | 11.12 | 2.12 | 0.24 | 10.67 | 2.04 | 0.2 | |
| MonoUNIIoU Threshold=0.7, Extra=None2026.01 | 3 | — | — | — | — | 3.04 | 8.59 | 0.85 | 0.12 | 8.48 | 0.84 | 0.12 | |
| DEVIANTIoU Threshold=0.7, Extra=None2026.01 | 2.5 | — | — | — | — | 2.52 | 6.93 | 0.95 | 0.02 | 6.87 | 0.94 | 0.02 | |
| PatchNetIoU Threshold=0.5, Extra=Depth2026.01 | 2.28 | — | — | — | — | 2.42 | 10.01 | 1.07 | 0.22 | 9.73 | 0.97 | 0.16 | |
| GUPNetIoU Threshold=0.7, Extra=None2026.01 | 2.12 | — | — | — | — | 2.14 | 6.13 | 0.78 | 0.02 | 6.08 | 0.77 | 0.02 | |
| PCTIoU Threshold=0.7, Extra=Depth2026.01 | 0.66 | — | — | — | — | 0.66 | 3.18 | 0.27 | 0.07 | 3.15 | 0.26 | 0.07 | |
| PatchNetIoU Threshold=0.7, Extra=Depth2026.01 | 0.36 | — | — | — | — | 0.38 | 1.67 | 0.13 | 0.03 | 1.63 | 0.11 | 0.03 | |
| M3D-RPNIoU Threshold=0.7, Extra=None2026.01 | 0.33 | — | — | — | — | 0.35 | 1.12 | 0.18 | 0.02 | 1.1 | 0.17 | 0.02 | |
| Point RegressionDetection Model=PointPillar2025.03 | 0 | — | — | — | — | — | — | — | — | — | — | — | |
| Point RegressionDetection Model=PVRCNN2025.03 | 0 | — | — | — | — | — | — | — | — | — | — | — | |
| Point RegressionDetection Model=VoxelRCNN2025.03 | 0 | — | — | — | — | — | — | — | — | — | — | — | |
| Point RegressionDetection Model=CenterPoint2025.03 | 0 | — | — | — | — | — | — | — | — | — | — | — | |
| M3D-RPNSupervision=Fully Supervised2022.03 | — | 7.51 | 23.96 | 3.81 | 0.35 | 5.5 | 19.15 | 2.33 | 0.17 | — | — | — | |
| WeakM3DSupervision=Weakly Supervised2022.03 | — | 8.18 | 20.31 | 7.5 | 0.99 | 4.5 | 12.16 | 3.67 | 0.4 | — | — | — |