3D Object Detection on Waymo Open Dataset LEVEL_1 (val)
83.813D APSST_TS_3f
Evaluation results
| Method | Links | ||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| SST_TS_3fArchitecture=Two-Stage, Frames=32021.12 | 83.81 | 80.14 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SST_3fArchitecture=One-Stage, Frames=32021.12 | 82.42 | 77.96 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SST_TS_1fArchitecture=Two-Stage, Frames=12021.12 | 81.39 | 74.05 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RSN_3fArchitecture=Two-Stage, Frames=3, Variant=‡2021.12 | 79.4 | 76.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CenterPoint-VoxelArchitecture=Two-Stage2021.12 | 79.02 | 73.44 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SST_1fArchitecture=One-Stage, Frames=12021.12 | 78.71 | 69.55 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RSN_1fArchitecture=Two-Stage, Frames=1, Variant=‡2021.12 | 77.8 | 72.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PV-RCNN++Architecture=Two-Stage2021.12 | 76.67 | 67.15 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Pyramid-PVbackbone=PV-RCNN2021.09 | 76.3 | 75.68 | — | — | — | — | — | — | — | — | — | — | 92.67 | 74.91 | 92.2 | 74.21 | 54.54 | 53.45 | |
| CenterPoint-PillarArchitecture=Two-Stage2021.12 | 76.1 | 65.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RangeDetArchitecture=One-Stage2021.12 | 75.94 | 71.94 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Pyramid-Vbackbone=Part-A2 Net2021.09 | 75.83 | 75.29 | — | — | — | — | — | — | — | — | — | — | 92.63 | 74.46 | 92.2 | 73.84 | 53.4 | 52.44 | |
| CenterPoint-VoxelArchitecture=One-Stage2021.12 | 75.82 | 69.65 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Voxel R-CNN2021.09 | 75.59 | — | — | — | — | — | — | — | — | — | — | — | 92.49 | 74.09 | — | — | 53.15 | — | |
| Part-A2-NetArchitecture=Two-Stage, Variant=‡2021.12 | 75.24 | 66.87 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PV-RCNNArchitecture=Two-Stage2021.12 | 75.01 | 65.65 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PPCArchitecture=One-Stage2021.12 | 73.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Pillar-ODArchitecture=One-Stage2021.12 | 72.51 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3D-MANClass=Pedestrian2021.03 | 71.71 | 67.74 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3D-MANArchitecture=Two-Stage2021.12 | 71.71 | 67.74 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Part-A2 Netre-implemented=true2021.09 | 71.69 | 71.16 | — | — | — | — | — | — | — | — | — | — | 91.83 | 69.99 | 91.37 | 69.37 | 46.26 | 45.41 | |
| LiDAR-RCNNArchitecture=Two-Stage2021.12 | 71.2 | 58.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointPillars*Architecture=One-Stage2021.12 | 70.59 | 56.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PV-RCNN2021.09 | 70.3 | 69.7 | — | — | — | — | — | — | — | — | — | — | 91.9 | 69.2 | 91.3 | 68.5 | 42.2 | 41.3 | |
| Pillar-OD2021.09 | 69.8 | — | — | — | — | — | — | — | — | — | — | — | 88.5 | 66.5 | — | — | 42.9 | — | |
| RCD2021.09 | 69 | 68.5 | — | — | — | — | — | — | — | — | — | — | 87.2 | 66.5 | 86.8 | 66.1 | 44.5 | 44 | |
| PointPillarsClass=Pedestrian2021.03 | 68.88 | 56.57 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SECONDArchitecture=One-Stage, Variant=‡2021.12 | 68.7 | 58.18 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| StarNetClass=Pedestrian2021.03 | 68.32 | 60.89 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MVFClass=Pedestrian2021.03 | 65.33 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MVFArchitecture=One-Stage2021.12 | 65.33 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CVCNet2021.09 | 65.2 | — | — | — | — | — | — | — | — | — | — | — | 86.8 | 62.19 | — | — | 29.27 | — | |
| StarNet2021.09 | 64.7 | 56.3 | — | — | — | — | — | — | — | — | — | — | 83.3 | 58.8 | 82.4 | 53.2 | 34.3 | 25.7 | |
| AFDet2021.09 | 63.69 | — | — | — | — | — | — | — | — | — | — | — | 87.38 | 62.19 | — | — | 29.27 | — | |
| PointPillars2021.09 | 63.3 | 62.7 | — | — | — | — | — | — | — | — | — | — | 84.9 | 59.2 | 84.4 | 58.6 | 35.8 | 35.2 | |
| MVF2021.09 | 62.93 | — | — | — | — | — | — | — | — | — | — | — | 86.3 | 60.02 | — | — | 36.02 | — | |
| LaserNetArchitecture=One-Stage2021.12 | 62.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LaserNet2021.09 | 52.1 | 50.1 | — | — | — | — | — | — | — | — | — | — | 70.9 | 52.9 | 68.7 | 51.4 | 29.6 | 28.6 | |
| Pyramid-Pbackbone=PointRCNN2021.09 | 47.02 | 46.58 | — | — | — | — | — | — | — | — | — | — | 74.24 | 32.49 | 73.78 | 31.96 | 25.68 | 25.24 | |
| PointRCNNre-implemented=true2021.09 | 45.05 | 44.25 | — | — | — | — | — | — | — | — | — | — | 72.24 | 31.21 | 71.31 | 30.41 | 23.77 | 23.15 | |
| PETR2024.07 | 20.9 | 19.7 | — | — | 12.1 | 10.6 | 19.5 | 17.6 | 31.1 | 30.8 | — | — | — | — | — | — | — | — | |
| RFTRBackbone=ResNet-502024.07 | 19.5 | 18.7 | — | — | 8 | 7.2 | 27.8 | 26.3 | 22.6 | 22.4 | — | — | — | — | — | — | — | — | |
| CaDDNExtra Data=LIDAR, IoU Threshold=>= 0.52025.11 | 17.54 | — | — | — | — | — | — | — | — | — | — | — | 45 | 9.24 | — | — | 0.64 | — | |
| CMKDResolution=half, Training samples percentage=20%2022.11 | 14.69 | 14.59 | — | — | — | — | — | — | — | — | — | — | 38.67 | 6.26 | 38.44 | 6.2 | — | — | |
| MonoDGP + SPANExtra Data=None, IoU Threshold=>= 0.52025.11 | 12.48 | — | — | — | — | — | — | — | — | — | — | — | 31.76 | 5.89 | — | — | 1.27 | — | |
| MonoDGPExtra Data=None, IoU Threshold=>= 0.52025.11 | 12.36 | — | — | — | — | — | — | — | — | — | — | — | 31.12 | 5.78 | — | — | 1.24 | — | |
| DEVIANTExtra Data=None, IoU Threshold=>= 0.52025.11 | 10.98 | — | — | — | — | — | — | — | — | — | — | — | 26.85 | 5.13 | — | — | 0.18 | — | |
| MonoUNIExtra Data=None, IoU Threshold=>= 0.52025.11 | 10.98 | — | — | — | — | — | — | — | — | — | — | — | 26.63 | 4.04 | — | — | 0.57 | — | |
| DETR3D2024.07 | 10.1 | 9.6 | — | — | 5.3 | 4.1 | 15.8 | 15.5 | 9.2 | 9.1 | — | — | — | — | — | — | — | — | |
| GUPNetExtra Data=None, IoU Threshold=>= 0.52025.11 | 10.02 | — | — | — | — | — | — | — | — | — | — | — | 24.78 | 4.84 | — | — | 0.22 | — | |
| CaDNNResolution=half, Training samples percentage=20%2022.11 | 5.03 | 4.99 | — | — | — | — | — | — | — | — | — | — | 14.54 | 1.47 | 14.43 | 1.45 | — | — | |
| CaDDNExtra Data=LIDAR, IoU Threshold=>= 0.72025.11 | 5.03 | — | — | — | — | — | — | — | — | — | — | — | 15.54 | 1.47 | — | — | 10 | — | |
| MonoDGP + SPANExtra Data=None, IoU Threshold=>= 0.72025.11 | 4.36 | — | — | — | — | — | — | — | — | — | — | — | 10.43 | 1.17 | — | — | 17 | — | |
| MonoDGPExtra Data=None, IoU Threshold=>= 0.72025.11 | 4.28 | — | — | — | — | — | — | — | — | — | — | — | 10.24 | 1.15 | — | — | 16 | — | |
| PCTExtra Data=Depth, IoU Threshold=>= 0.52025.11 | 4.2 | — | — | — | — | — | — | — | — | — | — | — | 14.7 | 1.78 | — | — | 0.39 | — | |
| MonoUNIExtra Data=None, IoU Threshold=>= 0.72025.11 | 3.2 | — | — | — | — | — | — | — | — | — | — | — | 8.61 | 0.87 | — | — | 13 | — | |
| DEVIANTExtra Data=None, IoU Threshold=>= 0.72025.11 | 2.69 | — | — | — | — | — | — | — | — | — | — | — | 6.95 | 0.99 | — | — | 2 | — | |
| GUPNetExtra Data=None, IoU Threshold=>= 0.72025.11 | 2.28 | — | — | — | — | — | — | — | — | — | — | — | 6.15 | 0.81 | — | — | 3 | — | |
| PCTExtra Data=Depth, IoU Threshold=>= 0.72025.11 | 0.89 | — | — | — | — | — | — | — | — | — | — | — | 3.18 | 0.27 | — | — | 7 | — | |
| M3D-RPNResolution=half, Training samples percentage=20%2022.11 | 0.35 | 0.34 | — | — | — | — | — | — | — | — | — | — | 1.12 | 0.18 | 1.1 | 0.18 | — | — | |
| AFDet2020.06 | — | — | — | — | — | — | — | — | 63.7 | — | — | — | — | — | — | — | — | — | |
| CenterFormerSingle-frame setting=true2025.06 | — | — | — | — | — | — | 72.3 | 71.3 | 75 | 74.4 | 78.6 | 73 | — | — | — | — | — | — | |
| CenterPointEncoder=Pillar2020.06 | — | — | — | — | — | — | — | — | 76.1 | 75.5 | 76.1 | 65.1 | — | — | — | — | — | — | |
| CenterPointEncoder=Voxel2020.06 | — | — | — | — | — | — | — | — | 76.7 | 76.2 | 79 | 72.9 | — | — | — | — | — | — | |
| CenterPointSingle-frame setting=true2025.06 | — | — | — | — | — | — | 72.3 | 71.1 | 74.2 | 73.6 | 76.6 | 70.5 | — | — | — | — | — | — | |
| CVCNet2020.06 | — | — | — | — | — | — | — | — | 65.2 | — | — | — | — | — | — | — | — | — | |
| DCDetSingle-frame setting=true2025.06 | — | — | — | — | — | — | 79.4 | 78.3 | 79.5 | 79 | 84.1 | 78.5 | — | — | — | — | — | — | |
| DOPS2020.06 | — | — | — | — | — | — | — | — | 56.4 | — | — | — | — | — | — | — | — | — | |
| DSVT (Voxel)Single-frame setting=true2025.06 | — | — | — | — | — | — | 77.5 | 76.5 | 79.7 | 79.3 | 83.7 | 78.9 | — | — | — | — | — | — | |
| FSDv1Fully sparse detector=true, Single-frame setting=true2025.06 | — | — | — | — | — | — | 77.1 | 76 | 79.2 | 78.8 | 82.6 | 77.3 | — | — | — | — | — | — | |
| FSDv2Fully sparse detector=true, Single-frame setting=true2025.06 | — | — | — | — | — | — | 80.7 | 79.6 | 79.8 | 79.3 | 84.8 | 79.7 | — | — | — | — | — | — | |
| FSHNetbaseFully sparse detector=true, Single-frame setting=true2025.06 | — | — | — | — | — | — | 80.5 | 79.4 | 82.2 | 81.7 | 85.9 | 80.8 | — | — | — | — | — | — | |
| FSHNetlightFully sparse detector=true, Single-frame setting=true2025.06 | — | — | — | — | — | — | 80.2 | 79.1 | 81 | 80.5 | 85.6 | 80.7 | — | — | — | — | — | — | |
| HEDNetSingle-frame setting=true2025.06 | — | — | — | — | — | — | 78.7 | 77.7 | 81.1 | 80.6 | 84.4 | 80 | — | — | — | — | — | — | |
| Huang et al.2020.06 | — | — | — | — | — | — | — | — | 63.6 | — | — | — | — | — | — | — | — | — | |
| IA-SSDSingle-frame setting=true2025.06 | — | — | — | — | — | — | 67.7 | 65.3 | 70.5 | 69.7 | 69.4 | 58.5 | — | — | — | — | — | — | |
| LiDAR R-CNNProposal Source=SECOND2021.03 | — | — | 62.6 | 62.1 | 68.2 | 59.5 | 52.8 | 51.6 | — | — | — | — | — | — | — | — | — | — | |
| LiDAR R-CNNProposal Source=PointPillars2021.03 | — | — | 73.4 | 72.9 | 70.6 | 57.8 | 66.8 | 64.8 | — | — | — | — | — | — | — | — | — | — | |
| LiDAR R-CNNProposal Source=PointPillars, Point encoding channels=2x2021.03 | — | — | 73.5 | 73 | 71.2 | 58.7 | 68.6 | 66.9 | — | — | — | — | — | — | — | — | — | — | |
| LION-MambaSingle-frame setting=true2025.06 | — | — | — | — | — | — | 79.7 | 78.7 | 79.5 | 79.1 | 84.9 | 80.4 | — | — | — | — | — | — | |
| MVF2020.06 | — | — | — | — | — | — | — | — | 62.9 | 65.3 | — | — | — | — | — | — | — | — | |
| Pillar-OD2020.06 | — | — | — | — | — | — | — | — | 69.8 | — | 72.5 | — | — | — | — | — | — | — | |
| PillarNeXtSingle-frame setting=true2025.06 | — | — | — | — | — | — | 73.2 | 72.2 | 78.4 | 77.9 | 82.5 | 77.1 | — | — | — | — | — | — | |
| PointPillars2021.03 | — | — | 71.6 | 71 | 70.6 | 56.7 | 64.4 | 62.3 | — | — | — | — | — | — | — | — | — | — | |
| PointPillars2020.06 | — | — | — | — | — | — | — | — | 56.6 | — | 59.3 | — | — | — | — | — | — | — | |
| PointPillarsSingle-frame setting=true2025.06 | — | — | — | — | — | — | 64.4 | 62.3 | 72.1 | 71.5 | 70.6 | 56.7 | — | — | — | — | — | — | |
| PPBA2020.06 | — | — | — | — | — | — | — | — | 62.4 | 66 | — | — | — | — | — | — | — | — | |
| PV-RCNN2020.06 | — | — | — | — | — | — | — | — | 74.4 | 73.8 | 61.4 | 53.4 | — | — | — | — | — | — | |
| PV-RCNNSingle-frame setting=true2025.06 | — | — | — | — | — | — | 71.5 | 70.3 | 78 | 77.5 | 79.2 | 73 | — | — | — | — | — | — | |
| SAFDNetFully sparse detector=true, Single-frame setting=true2025.06 | — | — | — | — | — | — | 80 | 79 | 80.6 | 80.1 | 84.7 | 80.4 | — | — | — | — | — | — | |
| ScatterFormerSingle-frame setting=true2025.06 | — | — | — | — | — | — | 79.9 | 78.9 | 81 | 80.5 | 84.5 | 79.9 | — | — | — | — | — | — | |
| SECOND2021.03 | — | — | 58.5 | 57.9 | 63.9 | 54.9 | 48.6 | 47.6 | — | — | — | — | — | — | — | — | — | — | |
| SECONDSingle-frame setting=true2025.06 | — | — | — | — | — | — | 60.6 | 59.3 | 72.3 | 71.7 | 68.7 | 58.2 | — | — | — | — | — | — | |
| SSTSingle-frame setting=true2025.06 | — | — | — | — | — | — | 70.7 | 69.6 | 74.2 | 73.8 | 78.7 | 69.6 | — | — | — | — | — | — | |
| SWFormerFully sparse detector=true, Single-frame setting=true2025.06 | — | — | — | — | — | — | — | — | 77.8 | 77.3 | 80.9 | 72.7 | — | — | — | — | — | — | |
| Voxel R-CNNSingle-frame setting=true2025.06 | — | — | — | — | — | — | 70.8 | 69.7 | 76.1 | 75.7 | 78.2 | 72 | — | — | — | — | — | — | |
| VoxelNeXtFully sparse detector=true, Single-frame setting=true2025.06 | — | — | — | — | — | — | 76.1 | 74.9 | 78.2 | 77.7 | 81.5 | 76.3 | — | — | — | — | — | — |