3D Object Detection on Waymo Open 100% (val)

82.1Vehicle AP (L1)DSVT-P

Evaluation Results

Method
DSVT-P2023.01	82.1	82.9	81.5	77.3	75.9	81.6	74.4	74	85.8	82.8	79	76.1	80.9	80	78.6	77.7
DSVT-V2023.01	82.1	83.1	81.7	77.5	76.2	81.6	74.5	74.1	86	83.2	79.1	76.4	81.1	80.3	78.8	78
DSVT-V2023.01	81.8	82.6	81.3	76.9	75.6	81.4	74.1	73.6	85.6	82.8	78.6	75.9	80.4	79.6	78.1	77.3
DSVT-P2023.01	81.8	82.5	81	76.7	75.4	81.3	74	73.6	85.6	82.6	78.5	75.6	80.1	79.2	77.7	76.9
DSVT-V2023.01	81.8	82.6	81.2	76.8	75.5	81.4	74	73.6	85.8	82.9	78.8	75.9	80.1	79.2	77.7	76.9
DSVT-P2023.01	81.7	82.5	81	76.7	75.3	81.2	73.8	73.4	85.4	82.3	78.5	75.5	80.3	79.4	77.9	77.1
DSVT-V2023.01	81.5	82.1	80.8	76.3	75	81.1	73.6	73.2	85.3	82.4	78.2	75.4	79.6	78.8	77.2	76.4
MPPNet2023.01	81.5	81.1	79.9	75.4	74.2	81.1	74.1	73.6	84.6	82	77.2	74.7	77.2	76.5	75	74.4
DSVT-V2023.01	81.4	82.3	80.8	76.6	75.1	81	73.5	73.1	85.4	82.2	78.4	75.3	80.2	79.3	77.8	76.9
DSVT-P2023.01	81.3	81.9	80.4	76	74.5	80.9	73.4	73	85.2	81.9	77.9	74.7	79.2	78.3	76.7	75.9
DSVT-P2023.01	81.2	81.9	80.5	76.2	74.8	80.8	73.3	72.9	85	82	78	75	79.6	78.8	77.2	76.4
DSVT-V2023.01	81.1	81.9	80.4	76	74.6	80.6	73	72.6	84.9	81.7	77.8	74.8	79.8	78.9	77.3	76.4
DSVT-P2023.01	80.8	81.4	79.8	75.4	73.9	80.3	72.7	72.3	84.5	81.3	77.2	74.1	78.8	77.9	76.3	75.4
DSVT-V2023.01	80.4	81.1	78.9	74.8	72.8	79.9	72.2	71.8	84.2	79.3	76.5	71.8	78.6	77.6	75.7	74.7
DSVT-P2023.01	80.2	80.6	78.2	74.3	72.1	79.7	72	71.6	83.7	78	76.1	70.7	77.8	76.8	74.9	73.9
PV-RCNN++2023.01	80.2	79.4	78	73.3	71.9	79.7	72.1	71.7	83.5	80.4	75.5	72.6	74.6	73.8	72.4	71.5
DSVT-V2023.01	79.7	80.3	78.2	74	72.1	79.3	71.4	71	83.7	78.9	76.1	71.5	77.5	76.5	74.6	73.7
DSVT-P2023.01	79.3	79.5	77.1	73.2	71	78.8	70.9	70.5	82.8	77	75.2	69.8	76.4	75.4	73.6	72.7
PV-RCNN++(center)2023.01	79.3	78.1	75.9	71.7	69.5	78.8	70.6	70.2	81.3	76.3	73.2	68	73.7	72.7	71.2	70.2
FSD2023.01	79.2	79.6	77.4	72.9	70.8	78.8	70.5	70.1	82.6	77.3	73.9	69.1	77.1	76	74.4	73.3
PillarNet-342023.01	79.1	77.3	74.6	71	68.5	78.6	70.9	70.5	80.6	74	72.3	66.2	72.3	71.2	69.7	68.7
SST-TS2023.01	78.7	—	—	—	—	78.2	70	69.6	83.8	80.1	75.9	72.4	—	—	—	—
CenterFormer2023.01	78.1	78.5	77	74.7	73.2	77.6	73.4	72.9	81.7	78.6	77.2	74.2	75.6	74.8	73.4	72.6
PV-RCNN+2023.01	78	76.2	73.6	69.6	67.2	77.5	69.4	69	79.2	73	70.4	64.7	71.5	70.3	69	67.8
SWFormer2023.01	77.8	—	—	—	—	77.3	69.2	68.8	80.9	72.7	72.5	64.9	—	—	—	—
AFDetV22023.01	77.6	77.2	74.8	71	68.8	77.1	69.7	69.2	80.2	74.6	72.2	67	73.7	72.7	71	70.1
Part-A2-Net2023.01	77.1	73.6	70.3	66.9	63.8	76.5	68.5	68	75.2	66.9	66.2	58.6	68.6	67.4	66.1	64.9
CenterFormer2023.01	77	78.3	76.7	74.3	72.8	76.5	72.1	71.6	81.4	78	76.7	73.4	76.6	75.7	74.2	73.3
SST2023.01	77	—	—	—	—	76.6	68.5	68.1	82.4	78	75.1	70.9	—	—	—	—
CenterPoint-Voxel2023.01	76.7	—	—	—	—	76.2	68.8	68.3	79	72.9	71	65.3	—	—	—	—
CenterFormer2023.01	75	75.3	72.9	71.1	68.9	74.4	69.9	69.4	78.6	73	73.6	68.3	72.3	71.3	69.8	68.8
VoxSet2023.01	74.5	75.4	72.2	69.1	66.2	74	66	65.6	80	72.4	72.5	65.4	71.6	70.3	69	67.7
CenterPoint-Voxel+2023.01	74.2	74.4	71.7	68.2	65.8	73.6	66.2	65.7	76.6	70.5	68.8	63.2	72.3	71.1	69.7	68.5
SST2023.01	74.2	74.5	71	67.8	64.6	73.8	65.5	65.1	78.7	69.6	70	61.7	70.7	69.6	68	66.9
SECOND2023.01	72.3	67.2	63.1	61	57.2	71.7	63.9	63.3	68.7	58.2	60.7	51.3	60.6	59.3	58.3	57
PointPillars2023.01	72.1	69	63.5	62.8	57.8	71.5	63.6	63.1	70.6	56.7	62.8	50.3	64.4	62.3	61.9	59.9