3D Object Detection on Waymo Open 100% (val)
82.1Vehicle AP (L1)DSVT-P
Evaluation results
| Method | Links | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| DSVT-PStages=Two, Representation=Pillar, Temporal frames=42023.01 | 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-VStages=Two, Representation=Voxel, Temporal frames=42023.01 | 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-VStages=One, Representation=Voxel, Temporal frames=42023.01 | 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-PStages=Two, Representation=Pillar, Temporal frames=32023.01 | 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-VStages=Two, Representation=Voxel, Temporal frames=32023.01 | 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-PStages=One, Representation=Pillar, Temporal frames=42023.01 | 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-VStages=One, Representation=Voxel, Temporal frames=32023.01 | 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 | |
| MPPNetStages=Two, Present at=ECCV'22, Temporal frames=42023.01 | 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-VStages=Two, Representation=Voxel, Temporal frames=22023.01 | 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-PStages=Two, Representation=Pillar, Temporal frames=22023.01 | 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-PStages=One, Representation=Pillar, Temporal frames=32023.01 | 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-VStages=One, Representation=Voxel, Temporal frames=22023.01 | 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-PStages=One, Representation=Pillar, Temporal frames=22023.01 | 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-VStages=Two, Representation=Voxel, Temporal frames=12023.01 | 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-PStages=Two, Representation=Pillar, Temporal frames=12023.01 | 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++Stages=Two, Present at=IJCV'22, Temporal frames=22023.01 | 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-VStages=One, Representation=Voxel, Temporal frames=12023.01 | 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-PStages=One, Representation=Pillar, Temporal frames=12023.01 | 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)Stages=Two, Present at=IJCV'222023.01 | 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 | |
| FSDStages=Two, Present at=NeurIPS'222023.01 | 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-34Stages=One, Present at=ECCV'22, Backbone=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-TSStages=Two, Present at=CVPR'22, Temporal frames=32023.01 | 78.7 | — | — | — | — | 78.2 | 70 | 69.6 | 83.8 | 80.1 | 75.9 | 72.4 | — | — | — | — | |
| CenterFormerStages=One, Present at=ECCV'22, Temporal frames=42023.01 | 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+Stages=Two, Present at=CVPR 202023.01 | 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 | |
| SWFormerStages=One, Present at=ECCV'222023.01 | 77.8 | — | — | — | — | 77.3 | 69.2 | 68.8 | 80.9 | 72.7 | 72.5 | 64.9 | — | — | — | — | |
| AFDetV2Stages=One, Present at=AAAI' 222023.01 | 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-NetStages=Two, Present at=TPAMI'202023.01 | 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 | |
| CenterFormerStages=One, Present at=ECCV'22, Temporal frames=22023.01 | 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 | |
| SSTStages=One, Present at=CVPR 22, Temporal frames=32023.01 | 77 | — | — | — | — | 76.6 | 68.5 | 68.1 | 82.4 | 78 | 75.1 | 70.9 | — | — | — | — | |
| CenterPoint-VoxelStages=Two, Present at=CVPR'212023.01 | 76.7 | — | — | — | — | 76.2 | 68.8 | 68.3 | 79 | 72.9 | 71 | 65.3 | — | — | — | — | |
| CenterFormerStages=One, Present at=ECCV'22, Temporal frames=12023.01 | 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 | |
| VoxSetStages=One, Present at=CVPR 222023.01 | 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+Stages=One, Present at=CVPR'212023.01 | 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 | |
| SSTStages=One, Present at=CVPR 222023.01 | 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 | |
| SECONDStages=One, Present at=Sensors'182023.01 | 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 | |
| PointPillarsStages=One, Present at=CVPR'192023.01 | 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 |