3D Object Detection on Waymo Open Dataset Level 2
69.23mAPH (L2)AD-PT
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| AD-PTParadigm=AD-PT, Data amount=20%, Backbone=PV-RCNN++2023.06 | 69.23 | 71.55 | 70.62 | 70.19 | 72.36 | 66.82 | 71.69 | 70.7 | |
| MeanTeacherParadigm=Semi, Data amount=20%, Backbone=PV-RCNN++2023.06 | 68.14 | 70.62 | 69.21 | 68.81 | 71.96 | 66.42 | 70.17 | 69.21 | |
| BEV-MAEParadigm=SS-PT, Data amount=20%, Backbone=PV-RCNN++2023.06 | 68.11 | 70.54 | 69.53 | 69.07 | 71.5 | 65.69 | 70.6 | 69.56 | |
| ProposalContrastParadigm=SS-PT, Data amount=20%, Backbone=PV-RCNN++2023.06 | 67.78 | 70.3 | 69.45 | 69 | 71.42 | 65.68 | 70.04 | 69.05 | |
| PV-RCNN++Paradigm=From scratch, Data amount=20%, Backbone=PV-RCNN++2023.06 | 67.58 | 69.97 | 69.18 | 68.75 | 70.88 | 65.21 | 69.84 | 68.77 | |
| AD-PTParadigm=AD-PT, Data amount=3%, Backbone=PV-RCNN++2023.06 | 65.69 | 68.33 | 68.17 | 67.7 | 68.82 | 62.39 | 68 | 67 | |
| TeacherEncoder type=voxel-based2022.05 | 65.5 | — | — | — | — | — | — | — | |
| AD-PTParadigm=AD-PT, Data amount=20%, Backbone=CenterPoint2023.06 | 64.65 | 67.17 | 65.33 | 64.83 | 67.16 | 61.2 | 69.39 | 68.25 | |
| BEV-MAEParadigm=SS-PT, Data amount=20%, Backbone=CenterPoint2023.06 | 64.45 | 66.92 | 64.78 | 64.29 | 66.25 | 60.53 | 69.73 | 68.52 | |
| itKDEncoder type=voxel-based2022.05 | 64.26 | — | — | — | — | — | — | — | |
| MeanTeacherParadigm=Semi, Data amount=20%, Backbone=CenterPoint2023.06 | 64.23 | 66.66 | 64.94 | 64.43 | 66.35 | 60.61 | 68.69 | 67.65 | |
| ProposalContrastParadigm=SS-PT, Data amount=20%, Backbone=CenterPoint2023.06 | 64.2 | 66.67 | 65.22 | 64.8 | 66.4 | 60.49 | 68.48 | 67.38 | |
| SparseKDEncoder type=voxel-based2022.05 | 64.05 | — | — | — | — | — | — | — | |
| BaselineEncoder type=voxel-based2022.05 | 64.03 | — | — | — | — | — | — | — | |
| CenterPointParadigm=From scratch, Data amount=20%, Backbone=CenterPoint2023.06 | 64.01 | 66.47 | 64.91 | 64.42 | 66.03 | 60.34 | 68.49 | 67.28 | |
| StudentEncoder type=voxel-based2022.05 | 63.26 | — | — | — | — | — | — | — | |
| GCC-3DParadigm=SS-PT, Data amount=20%, Backbone=CenterPoint2023.06 | 62.79 | 65.29 | 63.97 | 63.47 | 64.23 | 58.47 | 67.68 | 66.44 | |
| PV-RCNN++Paradigm=From scratch, Data amount=3%, Backbone=PV-RCNN++2023.06 | 61.1 | 63.81 | 64.42 | 63.93 | 64.33 | 57.79 | 62.69 | 61.59 | |
| TeacherParams (M)=5.2, FLOPS (G)=333.92022.05 | 60.13 | — | — | — | — | — | — | — | |
| itKD (Student 1/2)Params (M)=1.5, FLOPS (G)=130.1, channel reduction=1/22022.05 | 59.04 | — | — | — | — | — | — | — | |
| SparseKD-v0.64Params (M)=5.2, FLOPS (G)=85.12022.05 | 58.89 | — | — | — | — | — | — | — | |
| AD-PTParadigm=AD-PT, Data amount=3%, Backbone=CenterPoint2023.06 | 58.46 | 61.21 | 60.35 | 59.79 | 60.57 | 54.02 | 62.73 | 61.57 | |
| IA-SSDParams (M)=2.7, FLOPS (G)=46.12022.05 | 58.08 | — | — | — | — | — | — | — | |
| AD-PTParadigm=AD-PT, Data amount=20%, Backbone=SECOND2023.06 | 57.69 | 61.26 | 64.54 | 64 | 60.25 | 51.21 | 59 | 57.86 | |
| Part-A2Params (M)=4.6, FLOPS (G)=87.12022.05 | 57.43 | — | — | — | — | — | — | — | |
| MeanTeacherParadigm=Semi, Data amount=20%, Backbone=SECOND2023.06 | 57.31 | 60.93 | 64.22 | 63.73 | 59.54 | 50.8 | 58.66 | 57.41 | |
| BEV-MAEParadigm=SS-PT, Data amount=20%, Backbone=SECOND2023.06 | 57.3 | 61.03 | 64.42 | 63.87 | 59.97 | 50.65 | 58.69 | 57.39 | |
| SECONDParams (M)=5.3, FLOPS (G)=84.52022.05 | 57.23 | — | — | — | — | — | — | — | |
| ProposalContrastParadigm=SS-PT, Data amount=20%, Backbone=SECOND2023.06 | 57.16 | 60.91 | 64.5 | 63.9 | 60.33 | 51 | 57.9 | 56.6 | |
| PointPillarsParams (M)=4.8, FLOPS (G)=2552022.05 | 57.05 | — | — | — | — | — | — | — | |
| SECONDParadigm=From scratch, Data amount=20%, Backbone=SECOND2023.06 | 56.86 | 60.62 | 64.26 | 63.73 | 59.72 | 50.38 | 57.87 | 56.48 | |
| CenterPointParadigm=From scratch, Data amount=3%, Backbone=CenterPoint2023.06 | 56.29 | 59 | 57.12 | 56.57 | 58.66 | 52.44 | 61.24 | 59.89 | |
| itKD (Student 1/4)Params (M)=0.6, FLOPS (G)=45.1, channel reduction=1/42022.05 | 53.54 | — | — | — | — | — | — | — | |
| AD-PTParadigm=AD-PT, Data amount=3%, Backbone=SECOND2023.06 | 51.78 | 55.41 | 60.53 | 59.93 | 54.91 | 45.78 | 50.79 | 49.65 | |
| SECONDParadigm=From scratch, Data amount=3%, Backbone=SECOND2023.06 | 37.7 | 52 | 58.11 | 57.44 | 51.34 | 27.38 | 46.57 | 28.28 |