# 3D Object Detection on Waymo Open Dataset (SDE-APD, IoU-APD, IoU-AP)

Source: [3D Object Detection on Waymo Open Dataset (SDE-APD, IoU-APD, IoU-AP)](<https://www.sota2.com/research/sota/3d-object-detection-on-waymo-open-dataset-sde-apd-iou-apd-iou-ap>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-02-26T06:02:50.111Z

Evaluation of 3D Object Detection performance on the Waymo Open Dataset, specifically reporting SDE-APD, IoU-APD, and IoU-AP metrics.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | 3D Object Detection |
| Dataset (including any stated split) | Waymo Open Dataset |
| Metric | SDE-APD |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 4 of 4 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [SDE-APD](<https://www.sota2.com/research/sota/3d-object-detection-on-waymo-open-dataset-sde-apd-iou-apd-iou-ap.md?metric=SDE-APD>): Higher is better; unit: PERCENT.

- [IoU-APD](<https://www.sota2.com/research/sota/3d-object-detection-on-waymo-open-dataset-sde-apd-iou-apd-iou-ap.md?metric=IoU-APD>): Higher is better; unit: PERCENT.

- [IoU-AP](<https://www.sota2.com/research/sota/3d-object-detection-on-waymo-open-dataset-sde-apd-iou-apd-iou-ap.md?metric=IoU-AP>): Higher is better; unit: PERCENT.

## Recorded results

| Method | SDE-APD | Result date | Report paper |
| --- | --- | --- | --- |
| 5F-MVF++ | 87.4 | Not recorded | 68fa6b661e209131cea2e13f |
| MVF++ | 83.4 | Not recorded | 68fa6b661e209131cea2e13f |
| PointPillars | 81.7 | Not recorded | 68fa6b661e209131cea2e13f |
| PV-RCNN | 80.8 | Not recorded | 68fa6b661e209131cea2e13f |

### 5F-MVF++

SDE-APD: 87.4. Result ID: 698e881dffc3901de09e6867.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6b661e209131cea2e13f.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa697c1e209131cea225c5.md>)

Recorded evaluation configuration: {"Temporal frames":"5"}. This record does not assert independent reproduction.

### MVF++

SDE-APD: 83.4. Result ID: 698e881dffc3901de09e6868.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6b661e209131cea2e13f.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa66961e209131cea1127b.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### PointPillars

SDE-APD: 81.7. Result ID: 698e881dffc3901de09e686a.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6b661e209131cea2e13f.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65c01e209131cea0c2bc.md>)

[Implementation](<https://github.com/nutonomy/second.pytorch>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### PV-RCNN

SDE-APD: 80.8. Result ID: 698e881dffc3901de09e6869.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6b661e209131cea2e13f.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69b11e209131cea23700.md>)

[Implementation](<https://github.com/open-mmlab/OpenPCDet>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

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