3D Object Detection on Waymo Open Dataset 20% train (val)
68.2Vehicle AP L2Voxel-RCNN
Evaluation results
| Method | Links | |||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Voxel-RCNNImplementation=OpenPCDet2026.02 | 68.2 | 76.1 | 75.7 | 67.7 | 78.2 | 69.3 | 72 | 63.6 | 70.8 | 68.3 | 69.7 | 67.2 | 68.6 | |
| Fore-Mamba3D2026.02 | 67.8 | 76.3 | 75.8 | 67.4 | 82.1 | 75.6 | 75.6 | 70 | 72.8 | 72.2 | 71.3 | 70.6 | 71.9 | |
| PV-RCNNImplementation=OpenPCDet2026.02 | 67.4 | 75.4 | 74.7 | 66.8 | 72 | 63.7 | 61.2 | 54 | 65.8 | 63.4 | 64.3 | 61.8 | 64.8 | |
| LION2026.02 | 67 | — | — | 66.6 | — | 75.4 | — | 70.2 | — | 71.9 | — | 71 | 71.4 | |
| Part-A2Implementation=OpenPCDet2026.02 | 65.8 | 74.7 | 74.1 | 65.3 | 71.7 | 62.5 | 62.2 | 54.1 | 66.5 | 64.1 | 65.2 | 62.8 | 64.1 | |
| CenterPointImplementation=OpenPCDet2026.02 | 63.2 | 71.3 | 70.8 | 62.7 | 72.1 | 64.3 | 65.5 | 58.2 | 68.7 | 66.1 | 67.4 | 64.9 | 64.5 | |
| SECONDImplementation=OpenPCDet2026.02 | 62.6 | 71 | 70.3 | 62 | 65.2 | 57.2 | 54.2 | 47.5 | 57.1 | 55 | 55.6 | 53.5 | 58.3 | |
| IA-SSD2026.02 | 61.6 | 70.5 | 69.7 | 60.8 | 69.4 | 60.3 | 58.5 | 50.7 | 67.7 | 65 | 65.3 | 62.7 | 62.3 |