3D Object Detection on Waymo Open Dataset LEVEL_2 (val)
77.13D AP (Overall)FSHNetbase
Evaluation results
| Method | Links | ||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| FSHNetbaseFully sparse detector=true, Single-frame setting=true2025.06 | 77.1 | — | — | — | — | — | — | 78 | 76.9 | 74.5 | 74 | 78.9 | 73.9 | — | — | 74.9 | — | — | — | — | |
| FSHNetlightFully sparse detector=true, Single-frame setting=true2025.06 | 76.3 | — | — | — | — | — | — | 77.4 | 76.4 | 73 | 72.5 | 78.6 | 73.7 | — | — | 74.2 | — | — | — | — | |
| ScatterFormerSingle-frame setting=true2025.06 | 75.7 | — | — | — | — | — | — | 77.1 | 76.1 | 73.1 | 72.7 | 77 | 72.6 | — | — | 73.8 | — | — | — | — | |
| SAFDNetFully sparse detector=true, Single-frame setting=true2025.06 | 75.7 | — | — | — | — | — | — | 77.2 | 76.2 | 72.7 | 72.3 | 77.3 | 73.1 | — | — | 73.9 | — | — | — | — | |
| FSDv2Fully sparse detector=true, Single-frame setting=true2025.06 | 75.6 | — | — | — | — | — | — | 77.9 | 76.8 | 71.4 | 71 | 77.4 | 72.5 | — | — | 73.5 | — | — | — | — | |
| HEDNetSingle-frame setting=true2025.06 | 75.3 | — | — | — | — | — | — | 75.8 | 74.9 | 73.2 | 72.7 | 76.8 | 72.6 | — | — | 73.4 | — | — | — | — | |
| LION-MambaSingle-frame setting=true2025.06 | 75.1 | — | — | — | — | — | — | 76.7 | 75.8 | 71.1 | 70.7 | 77.5 | 73.2 | — | — | 73.2 | — | — | — | — | |
| DCDetSingle-frame setting=true2025.06 | 75 | — | — | — | — | — | — | 76.8 | 75.7 | 71.6 | 71.1 | 76.7 | 71.3 | — | — | 72.7 | — | — | — | — | |
| DSVT (Voxel)Single-frame setting=true2025.06 | 74 | — | — | — | — | — | — | 74.6 | 73.7 | 71.4 | 71 | 76.1 | 71.5 | — | — | 72.1 | — | — | — | — | |
| FSDv1Fully sparse detector=true, Single-frame setting=true2025.06 | 72.9 | — | — | — | — | — | — | 74.4 | 73.3 | 70.5 | 70.1 | 73.9 | 69.1 | — | — | 70.8 | — | — | — | — | |
| VoxelNeXtFully sparse detector=true, Single-frame setting=true2025.06 | 72.2 | — | — | — | — | — | — | 73.3 | 72.2 | 69.9 | 69.4 | 73.5 | 68.6 | — | — | 70.1 | — | — | — | — | |
| PillarNeXtSingle-frame setting=true2025.06 | 71.9 | — | — | — | — | — | — | 70.6 | 69.6 | 70.3 | 69.8 | 74.9 | 69.8 | — | — | 69.7 | — | — | — | — | |
| CenterFormerSingle-frame setting=true2025.06 | 71.1 | — | — | — | — | — | — | 69.8 | 68.8 | 69.9 | 69.4 | 73.6 | 68.3 | — | — | 68.9 | — | — | — | — | |
| PV-RCNNSingle-frame setting=true2025.06 | 69.6 | — | — | — | — | — | — | 69 | 67.8 | 69.4 | 69 | 70.4 | 64.7 | — | — | 67.2 | — | — | — | — | |
| Voxel R-CNNSingle-frame setting=true2025.06 | 68.6 | — | — | — | — | — | — | 68.3 | 67.2 | 68.2 | 67.7 | 69.3 | 63.6 | — | — | 66.2 | — | — | — | — | |
| CenterPointSingle-frame setting=true2025.06 | 68.2 | — | — | — | — | — | — | 69.7 | 68.5 | 66.2 | 65.7 | 68.8 | 63.2 | — | — | 65.8 | — | — | — | — | |
| SSTSingle-frame setting=true2025.06 | 67.8 | — | — | — | — | — | — | 68 | 66.9 | 65.5 | 65.1 | 70 | 61.7 | — | — | 64.6 | — | — | — | — | |
| Pyramid-PVbackbone=PV-RCNN2021.09 | 67.23 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 66.68 | — | — | — | — | |
| IA-SSDSingle-frame setting=true2025.06 | 66.8 | — | — | — | — | — | — | 65 | 62.7 | 61.6 | 61 | 60.3 | 50.7 | — | — | 63.3 | — | — | — | — | |
| Pyramid-Vbackbone=Part-A2 Net2021.09 | 66.77 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 66.28 | — | — | — | — | |
| Voxel R-CNN2021.09 | 66.59 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PV-RCNN2021.09 | 65.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 64.8 | — | — | — | — | |
| Part-A2 Netre-implemented=true2021.09 | 64.21 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 63.7 | — | — | — | — | |
| PointPillarsSingle-frame setting=true2025.06 | 62.8 | — | — | — | — | — | — | 61.9 | 59.9 | 63.6 | 63.1 | 62.8 | 50.3 | — | — | 57.8 | — | — | — | — | |
| SECONDSingle-frame setting=true2025.06 | 61 | — | — | — | — | — | — | 58.3 | 57 | 63.9 | 63.3 | 60.7 | 51.3 | — | — | 57.2 | — | — | — | — | |
| PointPillars2021.09 | 55.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 54.7 | — | — | — | — | |
| StarNet2021.09 | 45.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 39.6 | — | — | — | — | |
| Pyramid-Pbackbone=PointRCNN2021.09 | 39.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 38.76 | — | — | — | — | |
| PointRCNNre-implemented=true2021.09 | 37.41 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 36.74 | — | — | — | — | |
| CaDDNIOU3D threshold=0.5, Extra (Training Modality/Data)=LIDAR2023.12 | 16.51 | — | — | — | — | — | — | — | — | — | — | — | — | 44.87 | 8.99 | 16.28 | 44.33 | 8.86 | 58 | 55 | |
| CaDDNExtra Data=LIDAR, IoU Threshold=>= 0.52025.11 | 16.51 | — | — | — | — | — | — | — | — | — | — | — | — | 44.87 | 8.99 | — | — | — | 0.58 | — | |
| MonoLSSIOU3D threshold=0.5, Extra (Training Modality/Data)=None2023.12 | 13.12 | — | — | — | — | — | — | — | — | — | — | — | — | 33.56 | 6.28 | 13.02 | 33.32 | 6.22 | 115 | 113 | |
| CMKDResolution=half, Training samples percentage=20%2022.11 | 12.99 | — | — | — | — | — | — | — | — | — | — | — | — | 38.17 | 5.77 | 12.9 | 37.95 | 5.71 | — | — | |
| MonoDGP + SPANExtra Data=None, IoU Threshold=>= 0.52025.11 | 11.95 | — | — | — | — | — | — | — | — | — | — | — | — | 31.33 | 5.78 | — | — | — | 1.2 | — | |
| MonoDGPExtra Data=None, IoU Threshold=>= 0.52025.11 | 11.71 | — | — | — | — | — | — | — | — | — | — | — | — | 31.02 | 5.61 | — | — | — | 1.17 | — | |
| MonoUNIExtra Data=None, IoU Threshold=>= 0.52025.11 | 10.38 | — | — | — | — | — | — | — | — | — | — | — | — | 26.57 | 3.95 | — | — | — | 0.53 | — | |
| DEVIANTIOU3D threshold=0.5, Extra (Training Modality/Data)=None2023.12 | 10.29 | — | — | — | — | — | — | — | — | — | — | — | — | 26.75 | 4.95 | 10.2 | 26.54 | 4.9 | 16 | 16 | |
| DEVIANTExtra Data=None, IoU Threshold=>= 0.52025.11 | 10.29 | — | — | — | — | — | — | — | — | — | — | — | — | 26.75 | 4.95 | — | — | — | 0.16 | — | |
| GUPNetIOU3D threshold=0.5, Extra (Training Modality/Data)=None2023.12 | 9.39 | — | — | — | — | — | — | — | — | — | — | — | — | 24.69 | 4.67 | 9.31 | 24.5 | 4.62 | 19 | 19 | |
| GUPNetExtra Data=None, IoU Threshold=>= 0.52025.11 | 9.39 | — | — | — | — | — | — | — | — | — | — | — | — | 24.69 | 4.67 | — | — | — | 0.19 | — | |
| CaDDNIOU3D threshold=0.7, Extra (Training Modality/Data)=LIDAR2023.12 | 4.49 | — | — | — | — | — | — | — | — | — | — | — | — | 14.5 | 1.42 | 4.45 | 14.38 | 1.41 | 9 | 9 | |
| CaDNNResolution=half, Training samples percentage=20%2022.11 | 4.49 | — | — | — | — | — | — | — | — | — | — | — | — | 14.5 | 1.42 | 4.45 | 14.38 | 1.41 | — | — | |
| CaDDNExtra Data=LIDAR, IoU Threshold=>= 0.72025.11 | 4.49 | — | — | — | — | — | — | — | — | — | — | — | — | 14.5 | 1.42 | — | — | — | 9 | — | |
| MonoDGP + SPANExtra Data=None, IoU Threshold=>= 0.72025.11 | 4.12 | — | — | — | — | — | — | — | — | — | — | — | — | 10.51 | — | — | — | — | 16 | — | |
| PCTIOU3D threshold=0.5, Extra (Training Modality/Data)=Depth2023.12 | 4.03 | — | — | — | — | — | — | — | — | — | — | — | — | 14.67 | 1.74 | 4.15 | 14.51 | 1.71 | 36 | 35 | |
| PCTExtra Data=Depth, IoU Threshold=>= 0.52025.11 | 4.03 | — | — | — | — | — | — | — | — | — | — | — | — | 14.67 | 1.74 | — | — | — | 0.36 | — | |
| MonoDGPExtra Data=None, IoU Threshold=>= 0.72025.11 | 4 | — | — | — | — | — | — | — | — | — | — | — | — | 10.2 | 1.13 | — | — | — | 15 | — | |
| M3D-RPNIOU3D threshold=0.5, Extra (Training Modality/Data)=None2023.12 | 3.61 | — | — | — | — | — | — | — | — | — | — | — | — | 11.12 | 2.12 | 3.46 | 10.67 | 2.04 | 24 | 20 | |
| MonoLSSIOU3D threshold=0.7, Extra (Training Modality/Data)=None2023.12 | 3.27 | — | — | — | — | — | — | — | — | — | — | — | — | 9.79 | 1.11 | 3.25 | 9.73 | 1.1 | 15 | 15 | |
| MonoUNIExtra Data=None, IoU Threshold=>= 0.72025.11 | 3.04 | — | — | — | — | — | — | — | — | — | — | — | — | 8.59 | 0.85 | — | — | — | 12 | — | |
| DEVIANTIOU3D threshold=0.7, Extra (Training Modality/Data)=None2023.12 | 2.52 | — | — | — | — | — | — | — | — | — | — | — | — | 6.93 | 0.95 | 2.5 | 6.87 | 0.94 | 2 | 2 | |
| DEVIANTExtra Data=None, IoU Threshold=>= 0.72025.11 | 2.52 | — | — | — | — | — | — | — | — | — | — | — | — | 6.93 | 0.95 | — | — | — | 2 | — | |
| PatchNetIOU3D threshold=0.5, Extra (Training Modality/Data)=Depth2023.12 | 2.42 | — | — | — | — | — | — | — | — | — | — | — | — | 10.01 | 1.07 | 2.28 | 9.73 | 0.97 | 22 | 16 | |
| GUPNetIOU3D threshold=0.7, Extra (Training Modality/Data)=None2023.12 | 2.14 | — | — | — | — | — | — | — | — | — | — | — | — | 6.13 | 0.78 | 2.12 | 6.08 | 0.77 | 2 | 2 | |
| GUPNetExtra Data=None, IoU Threshold=>= 0.72025.11 | 2.14 | — | — | — | — | — | — | — | — | — | — | — | — | 6.13 | 0.78 | — | — | — | 2 | — | |
| PCTIOU3D threshold=0.7, Extra (Training Modality/Data)=Depth2023.12 | 0.66 | — | — | — | — | — | — | — | — | — | — | — | — | 3.18 | 0.27 | 0.66 | 3.15 | 0.26 | 7 | 7 | |
| PCTExtra Data=Depth, IoU Threshold=>= 0.72025.11 | 0.66 | — | — | — | — | — | — | — | — | — | — | — | — | 3.18 | 0.27 | — | — | — | 7 | — | |
| PatchNetIOU3D threshold=0.7, Extra (Training Modality/Data)=Depth2023.12 | 0.38 | — | — | — | — | — | — | — | — | — | — | — | — | 1.67 | 0.13 | 0.36 | 1.63 | 0.11 | 3 | 3 | |
| M3D-RPNIOU3D threshold=0.7, Extra (Training Modality/Data)=None2023.12 | 0.35 | — | — | — | — | — | — | — | — | — | — | — | — | 1.12 | 0.18 | 0.33 | 1.1 | 0.17 | 2 | 2 | |
| M3D-RPNResolution=half, Training samples percentage=20%2022.11 | 0.33 | — | — | — | — | — | — | — | — | — | — | — | — | 1.12 | 0.18 | 0.33 | 1.1 | 0.17 | — | — | |
| 3D-MANClass=Pedestrian2021.03 | — | 62.58 | 59.04 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3D-MANArchitecture=Two-Stage2021.12 | — | 62.58 | 59.04 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BoxeR-3Dend-to-end=true2021.11 | — | — | — | — | — | — | — | — | — | 63.9 | 63.7 | 61.5 | 53.7 | — | — | — | — | — | — | — | |
| CenterPointEncoder=Pillar2020.06 | — | — | — | — | — | — | — | — | — | 68 | 67.5 | 68.1 | 57.9 | — | — | — | — | — | — | — | |
| CenterPointEncoder=Voxel2020.06 | — | — | — | — | — | — | — | — | — | 68.8 | 68.3 | 71 | 65.3 | — | — | — | — | — | — | — | |
| CenterPoint2024.09 | — | 66.54 | 64.09 | — | — | — | — | 68.56 | 67.37 | 64.57 | 64.07 | 66.5 | 60.84 | — | — | — | — | — | — | — | |
| CenterPoint-PillarArchitecture=Two-Stage2021.12 | — | 68.1 | 57.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CenterPoint-VoxelArchitecture=One-Stage2021.12 | — | 68.34 | 62.62 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CenterPoint-VoxelArchitecture=Two-Stage2021.12 | — | 70.98 | 65.75 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Deformable DETRend-to-end=true2021.11 | — | — | — | — | — | — | — | — | — | 59.6 | 59.2 | 45.8 | 36.2 | — | — | — | — | — | — | — | |
| DSVT2024.09 | — | 72.96 | 70.56 | — | — | — | — | 73.07 | 72.11 | 70.84 | 70.32 | 74.97 | 69.27 | — | — | — | — | — | — | — | |
| FASDType=Teacher, Block=Transformer2024.09 | — | 75.36 | 73.18 | — | — | — | — | 75.73 | 74.79 | 72.35 | 71.93 | 77.1 | 72.82 | — | — | — | — | — | — | — | |
| FASDType=Student, Block=Mamba2024.09 | — | 75.3 | 73.35 | — | — | — | — | 76.45 | 75.48 | 72.26 | 71.84 | 77.18 | 72.73 | — | — | — | — | — | — | — | |
| LaserNetArchitecture=One-Stage2021.12 | — | — | 45.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LiDAR R-CNNProposal Source=SECOND2021.03 | — | — | — | 54.5 | 54 | 59.3 | 51.7 | 50.9 | 49.7 | — | — | — | — | — | — | — | — | — | — | — | |
| LiDAR R-CNNProposal Source=PointPillars2021.03 | — | — | — | 64.6 | 64.1 | 62.5 | 50.9 | 64.3 | 62.4 | — | — | — | — | — | — | — | — | — | — | — | |
| LiDAR R-CNNProposal Source=PointPillars, Point encoding channels=2x2021.03 | — | — | — | 64.7 | 64.2 | 63.1 | 51.7 | 66.1 | 64.4 | — | — | — | — | — | — | — | — | — | — | — | |
| LiDAR-RCNNArchitecture=Two-Stage2021.12 | — | 63.1 | 51.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Part-A2-NetArchitecture=Two-Stage, Variant=‡2021.12 | — | 66.18 | 58.62 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointPillarend-to-end=false2021.11 | — | — | — | — | — | — | — | — | — | 55.2 | 54.7 | 60 | 49.1 | — | — | — | — | — | — | — | |
| PointPillarsClass=Pedestrian2021.03 | — | 59.98 | 49.14 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointPillars2021.03 | — | — | — | 63.1 | 62.5 | 62.9 | 50.2 | 61.9 | 59.9 | — | — | — | — | — | — | — | — | — | — | — | |
| PointPillars*Architecture=One-Stage2021.12 | — | 62.84 | 50.25 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PPCArchitecture=One-Stage2021.12 | — | — | 59.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PV-RCNN2020.06 | — | — | — | — | — | — | — | — | — | 65.4 | 64.8 | 53.9 | 46.7 | — | — | — | — | — | — | — | |
| PV-RCNNArchitecture=Two-Stage2021.12 | — | 66.04 | 57.61 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PV-RCNNend-to-end=false2021.11 | — | — | — | — | — | — | — | — | — | 65.4 | 64.8 | — | — | — | — | — | — | — | — | — | |
| PV-RCNN++Architecture=Two-Stage2021.12 | — | 68.51 | 59.72 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PV-RCNN++2024.09 | — | 71.73 | 69.51 | — | — | — | — | 71.36 | 70.29 | 70.6 | 70.23 | 73.21 | 68.07 | — | — | — | — | — | — | — | |
| RangeDetArchitecture=One-Stage2021.12 | — | 67.6 | 63.89 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RSN S_1fend-to-end=false2021.11 | — | — | — | — | — | — | — | — | — | 63 | 62.6 | 65.4 | 60.7 | — | — | — | — | — | — | — | |
| RSN_1fArchitecture=Two-Stage, Frames=1, Variant=‡2021.12 | — | 68.3 | 63.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RSN_3fArchitecture=Two-Stage, Frames=3, Variant=‡2021.12 | — | 69.9 | 67 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SAFDNet2024.09 | — | 73.82 | 71.88 | — | — | — | — | 74.1 | 73.19 | 71.26 | 70.85 | 76.12 | 71.6 | — | — | — | — | — | — | — | |
| SECOND2021.03 | — | — | — | 51.6 | 51.1 | 56 | 48 | 46.8 | 45.8 | — | — | — | — | — | — | — | — | — | — | — | |
| SECONDArchitecture=One-Stage, Variant=‡2021.12 | — | 60.72 | 51.31 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SST_1fArchitecture=One-Stage, Frames=12021.12 | — | 70.02 | 61.67 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SST_3fArchitecture=One-Stage, Frames=32021.12 | — | 75.14 | 70.88 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SST_TS_1fArchitecture=Two-Stage, Frames=12021.12 | — | 72.82 | 65.93 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SST_TS_3fArchitecture=Two-Stage, Frames=32021.12 | — | 75.94 | 72.37 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — |