3D Object Detection on Waymo Open Dataset 0.2 labeled (val)
80.77Vehicle 3D AP (L1)Graph R-CNN
Evaluation results
| Method | Links | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Graph R-CNNStage=Two-stage, Voxel Size=[0.1, 0.1, 0.15]2022.12 | 80.77 | 73.17 | 70.87 | 80.28 | 72.55 | 72.1 | 82.35 | 76.64 | 74.44 | 69.02 | 75.28 | 74.21 | 72.52 | 71.49 | |
| GD-MAEStage=Two-stage, Voxel Size=[0.32, 0.32, 6]2022.12 | 80.21 | 74.11 | 71.6 | 79.78 | 72.37 | 71.96 | 83.1 | 76.72 | 75.53 | 69.43 | 77.22 | 76.18 | 74.43 | 73.42 | |
| GD-MAE*Stage=One-stage, Voxel Size=[0.32, 0.32, 6]2022.12 | 79.4 | 72.9 | 70.43 | 78.94 | 70.91 | 70.49 | 82.2 | 75.85 | 74.82 | 68.79 | 75.75 | 74.77 | 72.98 | 72.03 | |
| PV-RCNN++Stage=Two-stage, Voxel Size=[0.1, 0.1, 0.15]2022.12 | 79.25 | 71.66 | 69.45 | 78.78 | 70.61 | 70.18 | 81.83 | 76.28 | 73.17 | 68 | 73.72 | 72.66 | 71.21 | 70.19 | |
| FSDStage=Two-stage, Voxel Size=[0.25, 0.25, 0.2]2022.12 | 79.2 | 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-34Stage=One-stage, Voxel Size=[0.1, 0.1, 6]2022.12 | 79.09 | 70.97 | 68.43 | 78.59 | 70.92 | 70.46 | 80.59 | 74.01 | 72.28 | 66.17 | 72.29 | 71.21 | 69.72 | 68.67 | |
| AFDetV2Stage=One-stage, Voxel Size=[0.1, 0.1, 0.15]2022.12 | 77.64 | 70.96 | 68.76 | 77.14 | 69.68 | 69.22 | 80.19 | 74.62 | 72.16 | 66.95 | 73.72 | 72.74 | 71.06 | 70.12 | |
| Point2SeqStage=One-stage, Voxel Size=[0.1, 0.1, 0.15]2022.12 | 77.52 | — | — | 77.03 | 68.8 | 68.36 | — | — | — | — | — | — | — | — | |
| PV-RCNNStage=Two-stage, Voxel Size=[0.1, 0.1, 0.15]2022.12 | 77.51 | 66.8 | 63.33 | 76.89 | 68.98 | 68.41 | 75.01 | 65.65 | 66.04 | 57.61 | 67.81 | 66.35 | 65.39 | 63.98 | |
| GD-MAEStage=One-stage, Voxel Size=[0.32, 0.32, 6]2022.12 | 77.26 | 70.62 | 67.64 | 76.78 | 68.72 | 68.29 | 80.26 | 72.36 | 72.84 | 65.47 | 73.12 | 71.94 | 70.3 | 69.16 | |
| Part-A2-NetStage=Two-stage, Voxel Size=[0.1, 0.1, 0.15]2022.12 | 77.05 | 66.92 | 63.84 | 76.51 | 68.47 | 67.97 | 75.24 | 66.87 | 66.18 | 58.62 | 68.6 | 67.36 | 66.13 | 64.93 | |
| Pyramid RCNNStage=Two-stage, Voxel Size=[0.1, 0.1, 0.15]2022.12 | 76.3 | — | — | 75.68 | 67.23 | 66.68 | — | — | — | — | — | — | — | — | |
| GD-MAEStage=One-stage, Voxel Size=[0.32, 0.32, 6], labeled_data=20%2022.12 | 76.24 | 70.24 | 67.14 | 75.74 | 67.67 | 67.22 | 80.5 | 72.29 | 73.18 | 65.5 | 72.63 | 71.42 | 69.87 | 68.71 | |
| SST_TSStage=Two-stage, Voxel Size=[0.32, 0.32, 6]2022.12 | 76.22 | — | — | 75.79 | 68.04 | 67.64 | 81.39 | 74.05 | 72.82 | 65.93 | — | — | — | — | |
| M3DETRStage=Two-stage, Voxel Size=[0.1, 0.1, 0.15]2022.12 | 75.71 | — | — | 75.08 | 66.58 | 66.02 | — | — | — | — | — | — | — | — | |
| Voxel RCNNStage=Two-stage, Voxel Size=[0.1, 0.1, 0.15]2022.12 | 75.59 | — | — | — | 66.59 | — | — | — | — | — | — | — | — | — | |
| CenterFormerStage=One-stage, Voxel Size=[0.1, 0.1, 0.15]2022.12 | 75.2 | 71.2 | 68.93 | 74.7 | 70.2 | 69.7 | 78.6 | 73 | 73.6 | 68.3 | 72.3 | 71.3 | 69.8 | 68.8 | |
| RSNStage=Two-stage2022.12 | 75.1 | — | — | 74.6 | 66 | 65.5 | 77.8 | 72.7 | 68.3 | 63.7 | — | — | — | — | |
| CenterPoint-VoxelStage=One-stage, Voxel Size=[0.1, 0.1, 0.15]2022.12 | 74.78 | 68.25 | 65.81 | 74.24 | 66.66 | 66.17 | 75.95 | 69.75 | 68.42 | 62.67 | 72.27 | 71.12 | 69.69 | 68.59 | |
| VoxSeTStage=One-stage, Voxel Size=[0.32, 0.32, 6]2022.12 | 74.5 | 69.13 | 66.22 | 74.03 | 65.99 | 65.56 | 80.03 | 72.42 | 72.45 | 65.39 | 71.56 | 70.29 | 68.95 | 67.73 | |
| SSTStage=One-stage, Voxel Size=[0.32, 0.32, 6]2022.12 | 74.22 | — | — | 73.77 | 65.47 | 65.07 | 78.71 | 69.55 | 70.02 | 61.67 | — | — | — | — | |
| LIDAR-RCNNStage=Two-stage, Voxel Size=[0.32, 0.32, 6]2022.12 | 73.5 | 64.63 | 60.1 | 73 | 64.7 | 64.2 | 71.2 | 58.7 | 63.1 | 51.7 | 68.6 | 66.9 | 66.1 | 64.4 | |
| CenterPoint-PillarStage=One-stage, Voxel Size=[0.32, 0.32, 6]2022.12 | 73.37 | 65.98 | 62.21 | 72.86 | 65.09 | 64.62 | 75.35 | 65.11 | 67.61 | 58.25 | 67.76 | 66.22 | 65.25 | 63.77 | |
| RangeDetStage=One-stage2022.12 | 72.9 | 64.96 | 63.2 | 72.3 | 64 | 63.6 | 75.9 | 71.9 | 67.6 | 63.9 | 65.7 | 64.4 | 63.3 | 62.1 | |
| SECONDStage=One-stage, Voxel Size=[0.1, 0.1, 0.15]2022.12 | 72.27 | 60.97 | 57.23 | 71.69 | 63.85 | 63.33 | 68.7 | 58.18 | 60.72 | 51.31 | 60.62 | 59.28 | 58.34 | 57.05 | |
| PointPillarsStage=One-stage, Voxel Size=[0.32, 0.32, 6]2022.12 | 71.56 | 62.61 | 57.57 | 70.99 | 63.05 | 62.54 | 70.6 | 56.69 | 62.85 | 50.24 | 64.35 | 62.26 | 61.94 | 59.93 | |
| IA-SSDStage=One-stage2022.12 | 70.53 | 62.27 | 58.08 | 69.67 | 61.55 | 60.8 | 69.38 | 58.47 | 60.3 | 50.73 | 67.67 | 65.3 | 64.98 | 62.71 | |
| Pillar-ODStage=One-stage, Voxel Size=[0.32, 0.32, 6]2022.12 | 69.8 | — | — | — | — | — | 72.51 | — | — | — | — | — | — | — | |
| MVFStage=One-stage, Voxel Size=[0.32, 0.32, 6]2022.12 | 62.93 | — | — | — | — | — | — | — | — | — | — | — | — | — |