# 3D Object Detection on Waymo Open 100% (val) Source: [3D Object Detection on Waymo Open 100% (val)]() Collection index: [llms.txt]() Data updated: 2026-02-26T06:08:11.903Z Evaluation of 3D Object Detection performance on the validation split of the Waymo Open Dataset (100% configuration), reporting mAP and mAPH metrics across Level 1 and Level 2 difficulty settings, broken down by Vehicle, Pedestrian, and Cyclist classes. A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. | Scope | Recorded value | | --- | --- | | Task | 3D Object Detection | | Dataset (including any stated split) | Waymo Open 100% (val) | | Metric | Vehicle AP (L1) | | Unit | PERCENT | | Direction | Higher is better | | Results loaded | 36 of 36 | | Coverage | All results currently returned for this benchmark | Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol. ## Metrics - [Vehicle AP (L1)](): Higher is better; unit: PERCENT. - [mAP (L1)](): Higher is better; unit: PERCENT. - [mAPH (L1)](): Higher is better; unit: PERCENT. - [mAP (L2)](): Higher is better; unit: PERCENT. - [mAPH (L2)](): Higher is better; unit: PERCENT. - [Vehicle APH (L1)](): Higher is better; unit: PERCENT. - [Vehicle AP (L2)](): Higher is better; unit: PERCENT. - [Vehicle APH (L2)](): Higher is better; unit: PERCENT. - [Pedestrian AP (L1)](): Higher is better; unit: PERCENT. - [Pedestrian APH (L1)](): Higher is better; unit: PERCENT. - [Pedestrian AP (L2)](): Higher is better; unit: PERCENT. - [Pedestrian APH (L2)](): Higher is better; unit: PERCENT. - [Cyclist AP (L1)](): Higher is better; unit: PERCENT. - [Cyclist APH (L1)](): Higher is better; unit: PERCENT. - [Cyclist AP (L2)](): Higher is better; unit: PERCENT. - [Cyclist APH (L2)](): Higher is better; unit: PERCENT. ## Recorded results | Method | Vehicle AP (L1) | Result date | Report paper | | --- | --- | --- | --- | | DSVT-P | 82.1 | Not recorded | 68fa6ecf1e209131cea42525 | | DSVT-V | 82.1 | Not recorded | 68fa6ecf1e209131cea42525 | | DSVT-V | 81.8 | Not recorded | 68fa6ecf1e209131cea42525 | | DSVT-P | 81.8 | Not recorded | 68fa6ecf1e209131cea42525 | | DSVT-V | 81.8 | Not recorded | 68fa6ecf1e209131cea42525 | | DSVT-P | 81.7 | Not recorded | 68fa6ecf1e209131cea42525 | | DSVT-V | 81.5 | Not recorded | 68fa6ecf1e209131cea42525 | | MPPNet | 81.5 | Not recorded | 68fa6ecf1e209131cea42525 | | DSVT-V | 81.4 | Not recorded | 68fa6ecf1e209131cea42525 | | DSVT-P | 81.3 | Not recorded | 68fa6ecf1e209131cea42525 | | DSVT-P | 81.2 | Not recorded | 68fa6ecf1e209131cea42525 | | DSVT-V | 81.1 | Not recorded | 68fa6ecf1e209131cea42525 | | DSVT-P | 80.8 | Not recorded | 68fa6ecf1e209131cea42525 | | DSVT-V | 80.4 | Not recorded | 68fa6ecf1e209131cea42525 | | DSVT-P | 80.2 | Not recorded | 68fa6ecf1e209131cea42525 | | PV-RCNN++ | 80.2 | Not recorded | 68fa6ecf1e209131cea42525 | | DSVT-V | 79.7 | Not recorded | 68fa6ecf1e209131cea42525 | | DSVT-P | 79.3 | Not recorded | 68fa6ecf1e209131cea42525 | | PV-RCNN++(center) | 79.3 | Not recorded | 68fa6ecf1e209131cea42525 | | FSD | 79.2 | Not recorded | 68fa6ecf1e209131cea42525 | | PillarNet-34 | 79.1 | Not recorded | 68fa6ecf1e209131cea42525 | | SST-TS | 78.7 | Not recorded | 68fa6ecf1e209131cea42525 | | CenterFormer | 78.1 | Not recorded | 68fa6ecf1e209131cea42525 | | PV-RCNN+ | 78 | Not recorded | 68fa6ecf1e209131cea42525 | | SWFormer | 77.8 | Not recorded | 68fa6ecf1e209131cea42525 | | AFDetV2 | 77.6 | Not recorded | 68fa6ecf1e209131cea42525 | | Part-A2-Net | 77.1 | Not recorded | 68fa6ecf1e209131cea42525 | | CenterFormer | 77 | Not recorded | 68fa6ecf1e209131cea42525 | | SST | 77 | Not recorded | 68fa6ecf1e209131cea42525 | | CenterPoint-Voxel | 76.7 | Not recorded | 68fa6ecf1e209131cea42525 | | CenterFormer | 75 | Not recorded | 68fa6ecf1e209131cea42525 | | VoxSet | 74.5 | Not recorded | 68fa6ecf1e209131cea42525 | | CenterPoint-Voxel+ | 74.2 | Not recorded | 68fa6ecf1e209131cea42525 | | SST | 74.2 | Not recorded | 68fa6ecf1e209131cea42525 | | SECOND | 72.3 | Not recorded | 68fa6ecf1e209131cea42525 | | PointPillars | 72.1 | Not recorded | 68fa6ecf1e209131cea42525 | ### DSVT-P Vehicle AP (L1): 82.1. Result ID: 69905faa3a6c314849001656. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Stages":"Two","Representation":"Pillar","Temporal frames":"4"}. This record does not assert independent reproduction. ### DSVT-V Vehicle AP (L1): 82.1. Result ID: 69905faa3a6c314849001657. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Stages":"Two","Representation":"Voxel","Temporal frames":"4"}. This record does not assert independent reproduction. ### DSVT-V Vehicle AP (L1): 81.8. Result ID: 69905faa3a6c31484900164e. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Stages":"One","Representation":"Voxel","Temporal frames":"4"}. This record does not assert independent reproduction. ### DSVT-P Vehicle AP (L1): 81.8. Result ID: 69905faa3a6c314849001653. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Stages":"Two","Representation":"Pillar","Temporal frames":"3"}. This record does not assert independent reproduction. ### DSVT-V Vehicle AP (L1): 81.8. Result ID: 69905faa3a6c314849001654. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Stages":"Two","Representation":"Voxel","Temporal frames":"3"}. This record does not assert independent reproduction. ### DSVT-P Vehicle AP (L1): 81.7. Result ID: 69905faa3a6c31484900164d. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Stages":"One","Representation":"Pillar","Temporal frames":"4"}. This record does not assert independent reproduction. ### DSVT-V Vehicle AP (L1): 81.5. Result ID: 69905faa3a6c31484900164b. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Stages":"One","Representation":"Voxel","Temporal frames":"3"}. This record does not assert independent reproduction. ### MPPNet Vehicle AP (L1): 81.5. Result ID: 69905faa3a6c314849001655. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Stages":"Two","Present at":"ECCV'22","Temporal frames":"4"}. This record does not assert independent reproduction. ### DSVT-V Vehicle AP (L1): 81.4. Result ID: 69905faa3a6c314849001651. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Stages":"Two","Representation":"Voxel","Temporal frames":"2"}. This record does not assert independent reproduction. ### DSVT-P Vehicle AP (L1): 81.3. Result ID: 69905faa3a6c314849001650. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Stages":"Two","Representation":"Pillar","Temporal frames":"2"}. This record does not assert independent reproduction. ### DSVT-P Vehicle AP (L1): 81.2. Result ID: 69905faa3a6c31484900164a. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Stages":"One","Representation":"Pillar","Temporal frames":"3"}. This record does not assert independent reproduction. ### DSVT-V Vehicle AP (L1): 81.1. Result ID: 69905faa3a6c314849001648. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Stages":"One","Representation":"Voxel","Temporal frames":"2"}. This record does not assert independent reproduction. ### DSVT-P Vehicle AP (L1): 80.8. Result ID: 69905faa3a6c314849001647. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Stages":"One","Representation":"Pillar","Temporal frames":"2"}. This record does not assert independent reproduction. ### DSVT-V Vehicle AP (L1): 80.4. Result ID: 69905faa3a6c314849001645. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Stages":"Two","Representation":"Voxel","Temporal frames":"1"}. This record does not assert independent reproduction. ### DSVT-P Vehicle AP (L1): 80.2. Result ID: 69905faa3a6c314849001644. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Stages":"Two","Representation":"Pillar","Temporal frames":"1"}. This record does not assert independent reproduction. ### PV-RCNN++ Vehicle AP (L1): 80.2. Result ID: 69905faa3a6c31484900164f. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Stages":"Two","Present at":"IJCV'22","Temporal frames":"2"}. This record does not assert independent reproduction. ### DSVT-V Vehicle AP (L1): 79.7. Result ID: 69905faa3a6c31484900163e. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Stages":"One","Representation":"Voxel","Temporal frames":"1"}. This record does not assert independent reproduction. ### DSVT-P Vehicle AP (L1): 79.3. Result ID: 69905faa3a6c31484900163d. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Stages":"One","Representation":"Pillar","Temporal frames":"1"}. This record does not assert independent reproduction. ### PV-RCNN++(center) Vehicle AP (L1): 79.3. Result ID: 69905faa3a6c314849001642. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Stages":"Two","Present at":"IJCV'22"}. This record does not assert independent reproduction. ### FSD Vehicle AP (L1): 79.2. Result ID: 69905faa3a6c314849001643. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Stages":"Two","Present at":"NeurIPS'22"}. This record does not assert independent reproduction. ### PillarNet-34 Vehicle AP (L1): 79.1. Result ID: 69905faa3a6c31484900163b. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Stages":"One","Present at":"ECCV'22","Backbone":"PillarNet-34"}. This record does not assert independent reproduction. ### SST-TS Vehicle AP (L1): 78.7. Result ID: 69905faa3a6c314849001652. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Stages":"Two","Present at":"CVPR'22","Temporal frames":"3"}. This record does not assert independent reproduction. ### CenterFormer Vehicle AP (L1): 78.1. Result ID: 69905faa3a6c31484900164c. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Stages":"One","Present at":"ECCV'22","Temporal frames":"4"}. This record does not assert independent reproduction. ### PV-RCNN+ Vehicle AP (L1): 78. Result ID: 69905faa3a6c31484900163f. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Stages":"Two","Present at":"CVPR 20"}. This record does not assert independent reproduction. ### SWFormer Vehicle AP (L1): 77.8. Result ID: 69905faa3a6c31484900163a. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Stages":"One","Present at":"ECCV'22"}. This record does not assert independent reproduction. ### AFDetV2 Vehicle AP (L1): 77.6. Result ID: 69905faa3a6c314849001639. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Stages":"One","Present at":"AAAI' 22"}. This record does not assert independent reproduction. ### Part-A2-Net Vehicle AP (L1): 77.1. Result ID: 69905faa3a6c314849001640. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Stages":"Two","Present at":"TPAMI'20"}. This record does not assert independent reproduction. ### CenterFormer Vehicle AP (L1): 77. Result ID: 69905faa3a6c314849001646. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Stages":"One","Present at":"ECCV'22","Temporal frames":"2"}. This record does not assert independent reproduction. ### SST Vehicle AP (L1): 77. Result ID: 69905faa3a6c314849001649. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Stages":"One","Present at":"CVPR 22","Temporal frames":"3"}. This record does not assert independent reproduction. ### CenterPoint-Voxel Vehicle AP (L1): 76.7. Result ID: 69905faa3a6c314849001641. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Stages":"Two","Present at":"CVPR'21"}. This record does not assert independent reproduction. ### CenterFormer Vehicle AP (L1): 75. Result ID: 69905faa3a6c31484900163c. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Stages":"One","Present at":"ECCV'22","Temporal frames":"1"}. This record does not assert independent reproduction. ### VoxSet Vehicle AP (L1): 74.5. Result ID: 69905faa3a6c314849001638. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Stages":"One","Present at":"CVPR 22"}. This record does not assert independent reproduction. ### CenterPoint-Voxel+ Vehicle AP (L1): 74.2. Result ID: 69905faa3a6c314849001636. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Stages":"One","Present at":"CVPR'21"}. This record does not assert independent reproduction. ### SST Vehicle AP (L1): 74.2. Result ID: 69905faa3a6c314849001637. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Stages":"One","Present at":"CVPR 22"}. This record does not assert independent reproduction. ### SECOND Vehicle AP (L1): 72.3. Result ID: 69905faa3a6c314849001634. [Reporting paper]() Recorded evaluation configuration: {"Stages":"One","Present at":"Sensors'18"}. This record does not assert independent reproduction. ### PointPillars Vehicle AP (L1): 72.1. Result ID: 69905faa3a6c314849001635. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Stages":"One","Present at":"CVPR'19"}. This record does not assert independent reproduction. Page 1 of 1. 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