3D Object Detection on Waymo Open Dataset (test)
86.95Vehicle L2 mAPHDetZero_Ens
Evaluation results
| Method | Links | |||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| DetZero_EnsRank=1, Frames=200, Offboard detector=true, Uses TTA/Ensemble=true2023.06 | 86.95 | 92.17 | 91.8 | 87.32 | 92.08 | 89.67 | 88.08 | 85.64 | 85.49 | 84.7 | 83.63 | 82.85 | — | — | — | 85.15 | — | — | — | — | — | — | — | — | — | |
| LoGoNet_EnsRank=2, Frames=5, Offboard detector=true, LiDAR-Camera fusion=true, Uses TTA/Ensemble=true2023.06 | 82.32 | 88.8 | 88.37 | 82.75 | 89.63 | 86.74 | 84.96 | 82.1 | 84.51 | 83.59 | 82.36 | 81.46 | — | — | — | 81.96 | — | — | — | — | — | — | — | — | — | |
| MPPNet_TTARank=7, Frames=16, Uses TTA/Ensemble=true2023.06 | 80.93 | 87.77 | 87.37 | 81.33 | 87.92 | 85.15 | 82.86 | 80.14 | 80.74 | 79.9 | 78.54 | 77.73 | — | — | — | 79.6 | — | — | — | — | — | — | — | — | — | |
| BEVFusion_TTARank=5, Frames=3, Offboard detector=true, LiDAR-Camera fusion=true, Uses TTA/Ensemble=true2023.06 | 80.92 | 87.96 | 87.58 | 81.29 | 87.64 | 85.04 | 82.19 | 79.65 | 82.53 | 81.67 | 80.17 | 79.33 | — | — | — | 79.97 | — | — | — | — | — | — | — | — | — | |
| MoDARbase_model=SWFormer2023.06 | 80.8 | 88 | 87.5 | 81.2 | 85.8 | 82.5 | 80.2 | 77 | — | — | — | — | — | — | — | 78.9 | — | — | — | — | — | — | — | — | — | |
| MT-Net v2Rank=4, Frames=5, Uses TTA/Ensemble=true2023.06 | 80.79 | 87.54 | 87.12 | 81.2 | 87.62 | 84.89 | 82.33 | 79.66 | 82.8 | 81.74 | 80.58 | 79.54 | — | — | — | 80 | — | — | — | — | — | — | — | — | — | |
| LidarMultiNet_TTARank=6, Frames=3, Uses TTA/Ensemble=true2023.06 | 80.36 | 87.64 | 87.26 | 80.73 | 87.75 | 85.07 | 82.48 | 79.86 | 82.77 | 81.84 | 80.5 | 79.59 | — | — | — | 79.94 | — | — | — | — | — | — | — | — | — | |
| LIVOX DetectionRank=9, Frames=7, Anonymous submission=true, Uses TTA/Ensemble=true2023.06 | 80.05 | 86.81 | 86.45 | 80.41 | 87.17 | 84.57 | 82.16 | 79.59 | 80.46 | 79.59 | 78.08 | 77.24 | — | — | — | 78.96 | — | — | — | — | — | — | — | — | — | |
| HRI_ADLAB_HZRank=3, Frames=4, Anonymous submission=true, Uses TTA/Ensemble=true2023.06 | 79.83 | 86.77 | 86.4 | 80.19 | 88.59 | 86.01 | 83.84 | 81.27 | 85.67 | 84.84 | 83.69 | 82.87 | — | — | — | 81.32 | — | — | — | — | — | — | — | — | — | |
| DeepFusion_EnsRank=12, Frames=5, Offboard detector=true, LiDAR-Camera fusion=true, Uses TTA/Ensemble=true2023.06 | 79.09 | 86.45 | 86.09 | 79.43 | 86.14 | 83.77 | 80.88 | 78.57 | 80.53 | 79.8 | 78.29 | 77.58 | — | — | — | 78.41 | — | — | — | — | — | — | — | — | — | |
| INT_EnsRank=19, Frames=100, Uses TTA/Ensemble=true2023.06 | 78.73 | 85.63 | 85.23 | 79.12 | 84.97 | 81.87 | 79.35 | 76.36 | 79.76 | 78.65 | 77.62 | 76.54 | — | — | — | 77.21 | — | — | — | — | — | — | — | — | — | |
| AFDetV2-EnsRank=17, Frames=1, Uses TTA/Ensemble=true2023.06 | 78.34 | 85.8 | 85.41 | 78.41 | 85.22 | 82.16 | 79.71 | 76.75 | 81.2 | 80.3 | 78.7 | 77.83 | — | — | — | 77.64 | — | — | — | — | — | — | — | — | — | |
| CenterFormermodel_type=single-model2022.09 | 77.7 | 84.7 | 84.4 | 78.1 | 84.6 | 81.8 | 79.4 | 76.6 | 75.5 | 74.5 | 73.3 | 72.4 | — | — | — | 75.6 | — | — | — | — | — | — | — | — | — | |
| FSHNetbaseFrame Setting=single-frame, Test-Time Augmentation=None, Detector Sparsity=fully sparse2025.06 | 77.4 | 84.9 | 84.5 | 77.8 | 85.3 | 80 | 79.5 | 74.3 | 77.7 | 76.5 | 74.8 | 73.7 | — | — | 77.4 | 75.2 | — | — | — | — | — | — | — | — | — | |
| 3DAL+Frames=200, LiDAR-Camera fusion=true, Uses TTA/Ensemble=true2023.06 | 76.91 | 85.84 | 85.46 | 77.24 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DAL2023.06 | 76.9 | 85.8 | 85.5 | 77.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| HEDNetFrame setting=single-frame, Model stages=one-stage2023.10 | 76.6 | 84.2 | 83.8 | 77 | 84.1 | 79.7 | 78.3 | 74 | 78.2 | 77 | 75.4 | 74.3 | — | — | 76.9 | 75 | — | — | — | — | — | — | — | — | — | |
| SAFDNetFrame Setting=single-frame, Test-Time Augmentation=None, Detector Sparsity=fully sparse2025.06 | 76.2 | 83.9 | 83.5 | 76.6 | 84.3 | 79.8 | 78.4 | 74.1 | 77.5 | 76.3 | 74.6 | 73.4 | — | — | 76.5 | 74.6 | — | — | — | — | — | — | — | — | — | |
| PV-RCNN++Number of point cloud frames=22021.01 | 75.92 | 83.74 | 83.32 | 76.31 | 82.6 | 79.38 | 76.63 | 73.55 | 74.44 | 73.43 | 72.06 | 71.09 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PV-RCNN++Frames=2, Two-stage model=true2023.05 | 75.92 | 83.74 | 83.32 | 76.31 | 82.6 | 79.38 | 76.63 | 73.55 | 74.44 | 73.43 | 72.06 | 71.09 | — | — | 75 | 73.52 | — | — | — | — | — | — | — | — | — | |
| PillarNeXt-BFrames=32023.05 | 75.76 | 83.28 | 82.83 | 76.18 | 84.4 | 81.44 | 78.84 | 75.98 | 73.77 | 72.73 | 71.56 | 70.55 | — | — | 75.53 | 74.1 | — | — | — | — | — | — | — | — | — | |
| FSHNetlightFrame Setting=single-frame, Test-Time Augmentation=None, Detector Sparsity=fully sparse2025.06 | 75.7 | 83.4 | 83 | 76.1 | 84.7 | 79.8 | 78.8 | 74.1 | 78.9 | 77.7 | 76.1 | 74.9 | — | — | 77 | 74.9 | — | — | — | — | — | — | — | — | — | |
| PillarNet-34Frames=3, Test-time augmentations=true2023.05 | 75.69 | 83.23 | 82.8 | 76.09 | 82.38 | 79.02 | 76.66 | 73.46 | 71.44 | 70.51 | 69.2 | 68.29 | — | — | 73.98 | 72.48 | — | — | — | — | — | — | — | — | — | |
| PillarNet-34Stages=One, Sensors=LT, Frames=22022.05 | 75.69 | 83.23 | 82.8 | 76.09 | 82.38 | 79.02 | 76.66 | 73.46 | 71.44 | 70.51 | 69.2 | 68.29 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Graph R-CNN2022.12 | 75.64 | 83.55 | 83.12 | 76.04 | 81.91 | 76.49 | 75.59 | 70.45 | — | — | — | — | — | — | 75.82 | 73.05 | — | — | — | — | — | — | — | — | — | |
| Graph-RCNNframe_setting=single-frame, model_setting=single-model2023.08 | 75.6 | 83.6 | 83.1 | 76 | 81.9 | 76.5 | 75.6 | 70.5 | 72.5 | 71.3 | 69.8 | 68.7 | 79.3 | 77 | 73.8 | 71.6 | — | — | — | — | — | — | — | — | — | |
| GD-MAEframe_setting=single-frame, model_setting=single-model2023.08 | 75.5 | 83.6 | 83.2 | 75.8 | 83.2 | 77.1 | 77.1 | 71.3 | 74 | 72.9 | 71.2 | 70.2 | 80.3 | 77.7 | 74.7 | 72.3 | — | — | — | — | — | — | — | — | — | |
| GD-MAE2022.12 | 75.46 | 83.56 | 83.16 | 75.83 | 83.16 | 77.05 | 77.1 | 71.28 | — | — | — | — | — | — | 76.47 | 73.37 | — | — | — | — | — | — | — | — | — | |
| PillarNet-18Stages=One, Sensors=LT, Frames=22022.05 | 75.12 | 82.68 | 82.25 | 75.53 | 81.71 | 78.29 | 75.91 | 72.66 | 70.19 | 69.3 | 68.01 | 67.15 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CenterPoint++Frames=32023.05 | 75.1 | 82.8 | 82.3 | 75.5 | 81 | 78.2 | 75.1 | 72.4 | 74.4 | 73.3 | 72 | 71 | — | — | 74.2 | 72.8 | — | — | — | — | — | — | — | — | — | |
| PillarNet-34Input=Single-frame2022.12 | 74.7 | — | — | — | — | — | — | 68.5 | — | — | — | 65.5 | — | — | — | 69.6 | — | — | — | — | — | — | — | — | — | |
| SWFormer2023.06 | 74.7 | 82.9 | 82.5 | 75 | 82.1 | 78.1 | 75.9 | 72.1 | — | — | — | — | — | — | — | 73.4 | — | — | — | — | — | — | — | — | — | |
| SWFormerFrames=32023.05 | 74.65 | 82.89 | 82.49 | 75.02 | 82.13 | 78.13 | 75.87 | 72.07 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PillarNet-34Stages=One, Sensors=LT, Frames=12022.05 | 74.65 | 82.47 | 82.03 | 75.07 | 80.82 | 74.13 | 74.83 | 68.54 | 69.08 | 67.91 | 66.6 | 65.47 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PillarNet-vggStages=One, Sensors=LT, Frames=22022.05 | 74.49 | 82.18 | 81.73 | 74.93 | 80.41 | 76.86 | 74.52 | 71.14 | 68.75 | 67.89 | 66.52 | 65.68 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Pyramid R-CNNStages=Two, Sensors=L, Frames=22022.05 | 74.43 | 81.77 | 81.32 | 74.87 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FSDv1frame_setting=single-frame, model_setting=single-model2023.08 | 74.1 | 82.7 | 82.3 | 74.4 | 82.9 | 77.9 | 75.9 | 71.3 | 75.6 | 74.4 | 72.9 | 71.8 | 80.4 | 78.2 | 74.4 | 72.4 | — | — | — | — | — | — | — | — | — | |
| FSDFrame setting=single-frame, Model stages=two-stage2023.10 | 74.1 | 82.7 | 82.3 | 74.4 | 82.9 | 77.9 | 75.9 | 71.3 | 75.6 | 74.4 | 72.9 | 71.8 | — | — | 74.4 | 72.4 | — | — | — | — | — | — | — | — | — | |
| FSD2022.12 | 74.06 | 82.7 | 82.33 | 74.4 | 82.9 | 77.88 | 75.93 | 71.26 | — | — | — | — | — | — | 75.17 | 72.66 | — | — | — | — | — | — | — | — | — | |
| PillarNet-18Stages=One, Sensors=LT, Frames=12022.05 | 74.03 | 81.85 | 81.4 | 74.46 | 79.97 | 72.68 | 73.95 | 67.09 | 67.98 | 66.8 | 65.5 | 64.36 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FSDv2frame_setting=single-frame, model_setting=single-model2023.08 | 74 | 82.4 | 82 | 74.4 | 83.8 | 78.9 | 77.4 | 72.8 | 77.1 | 76 | 74.3 | 73.2 | 81.1 | 79 | 75.4 | 73.3 | — | — | — | — | — | — | — | — | — | |
| FSDv2Frame Setting=single-frame, Test-Time Augmentation=None, Detector Sparsity=fully sparse2025.06 | 74 | 82.4 | 82 | 74.4 | 83.8 | 78.9 | 77.4 | 72.8 | 77.1 | 76 | 74.3 | 73.2 | — | — | 75.4 | 73.3 | — | — | — | — | — | — | — | — | — | |
| AFDetV2model_type=single-model2022.09 | 73.9 | 81.7 | 81.2 | 74.3 | 81.3 | 78.1 | 75.5 | 72.4 | 76.4 | 75.4 | 74.1 | 73 | — | — | — | 73.1 | — | — | — | — | — | — | — | — | — | |
| AFDetV2Frames=22023.05 | 73.89 | 81.65 | 81.22 | 74.3 | 81.26 | 78.05 | 75.47 | 72.41 | 76.41 | 75.37 | 74.05 | 73.04 | — | — | 74.6 | 73.12 | — | — | — | — | — | — | — | — | — | |
| AFDetV2Stages=One, Sensors=LT, Frames=22022.05 | 73.89 | 81.65 | 81.22 | 74.3 | 81.26 | 78.05 | 75.47 | 72.41 | 76.41 | 75.37 | 74.05 | 73.04 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PV-RCNN++model_type=single-model2022.09 | 73.5 | 81.6 | 81.2 | 73.9 | 80.4 | 75 | 74.1 | 69 | 71.9 | 70.8 | 69.3 | 68.2 | — | — | — | 70.2 | — | — | — | — | — | — | — | — | — | |
| PV-RCNN++Input=Single-frame2022.12 | 73.5 | — | — | — | — | — | — | 69 | — | — | — | 68.2 | — | — | — | 70.2 | — | — | — | — | — | — | — | — | — | |
| PV-RCNN++frame_setting=single-frame, model_setting=single-model2023.08 | 73.5 | 81.6 | 81.2 | 73.9 | 80.4 | 75 | 74.1 | 69 | 71.9 | 70.8 | 69.3 | 68.2 | 78 | 75.7 | 72.4 | 70.2 | — | — | — | — | — | — | — | — | — | |
| PV-RCNN++Frame setting=single-frame, Model stages=two-stage2023.10 | 73.5 | 81.6 | 81.2 | 73.9 | 80.4 | 75 | 74.1 | 69 | 71.9 | 70.8 | 69.3 | 68.2 | — | — | 72.4 | 70.2 | — | — | — | — | — | — | — | — | — | |
| PV-RCNN++Frame Setting=single-frame, Test-Time Augmentation=None, Detector Sparsity=Standard2025.06 | 73.5 | 81.6 | 81.2 | 73.9 | 80.4 | 75 | 74.1 | 69 | 71.9 | 70.8 | 69.3 | 68.2 | — | — | 72.4 | 70.2 | — | — | — | — | — | — | — | — | — | |
| PV-RCNN++Number of point cloud frames=12021.01 | 73.47 | 81.62 | 81.2 | 73.86 | 80.41 | 74.99 | 74.12 | 69 | 71.93 | 70.76 | 69.28 | 68.15 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PV-RCNN++2022.12 | 73.47 | 81.62 | 81.2 | 73.86 | 80.41 | 74.99 | 74.12 | 69 | — | — | — | — | — | — | 73.99 | 71.24 | — | — | — | — | — | — | — | — | — | |
| ConQueRInput=Single-frame2022.12 | 73.3 | — | — | — | — | — | — | 70.9 | — | — | — | 71.9 | — | — | — | 72 | — | — | — | — | — | — | — | — | — | |
| PillarNet-vggStages=One, Sensors=LT, Frames=12022.05 | 73.2 | 81.16 | 80.68 | 73.64 | 78.3 | 70.28 | 72.23 | 64.68 | 67.26 | 66.07 | 64.79 | 63.65 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CenterPointmodel_type=single-model2022.09 | 73 | 81.1 | 80.6 | 73.4 | 80.5 | 77.3 | 74.6 | 71.5 | 74.6 | 73.7 | 72.2 | 71.3 | — | — | — | 71.9 | — | — | — | — | — | — | — | — | — | |
| CenterPointNumber of point cloud frames=22021.01 | 72.99 | 81.05 | 80.59 | 73.42 | 80.47 | 77.28 | 74.56 | 71.52 | 74.6 | 73.68 | 72.17 | 71.28 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CenterPointStages=Two, Sensors=L, Frames=22022.05 | 72.99 | 81.05 | 80.59 | 73.42 | 80.47 | 77.28 | 74.56 | 71.52 | 74.6 | 73.68 | 72.17 | 71.28 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SST_3fmodel_type=single-model2022.09 | 72.7 | 81 | 80.6 | 73.1 | 83.3 | 79.7 | 76.9 | 73.5 | 75.7 | 74.6 | 73.2 | 72.2 | — | — | — | 72.8 | — | — | — | — | — | — | — | — | — | |
| AFDetv2Input=Single-frame2022.12 | 72.6 | — | — | — | — | — | — | 68.6 | — | — | — | 68.7 | — | — | — | 70 | — | — | — | — | — | — | — | — | — | |
| AFDetV2-liteframe_setting=single-frame, model_setting=single-model2023.08 | 72.6 | 80.5 | 80 | 73 | 79.8 | 74.3 | 73.7 | 68.6 | 72.4 | 71.2 | 69.8 | 69.7 | 77.6 | 75.2 | 72.2 | 70.3 | — | — | — | — | — | — | — | — | — | |
| AFDetV2Frame setting=single-frame, Model stages=one-stage2023.10 | 72.6 | 80.5 | 80 | 73 | 79.8 | 74.3 | 73.7 | 68.6 | 72.4 | 71.2 | 69.8 | 69.7 | — | — | 72.2 | 70.3 | — | — | — | — | — | — | — | — | — | |
| AFDetV2Frame Setting=single-frame, Test-Time Augmentation=None, Detector Sparsity=Standard2025.06 | 72.6 | 80.5 | 80 | 73 | 79.8 | 74.4 | 73.7 | 68.6 | 72.4 | 71.2 | 69.8 | 68.7 | — | — | 72.2 | 70 | — | — | — | — | — | — | — | — | — | |
| AFDetV2Stages=One, Sensors=LT, Frames=12022.05 | 72.55 | 80.49 | 80.43 | 72.98 | 79.76 | 74.35 | 73.71 | 68.61 | 72.43 | 71.23 | 69.84 | 68.67 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PV-RCNNframe_setting=single-frame, model_setting=single-model2023.08 | 72.4 | 80.6 | 80.1 | 72.8 | 78.2 | 72 | 71.8 | 66 | 71.8 | 70.4 | 69.1 | 67.8 | 76.9 | 74.2 | 71.3 | 68.8 | — | — | — | — | — | — | — | — | — | |
| PV-RCNNFrame setting=single-frame, Model stages=two-stage2023.10 | 72.4 | 80.6 | 80.1 | 72.8 | 78.2 | 72 | 71.8 | 66 | 71.8 | 70.4 | 69.1 | 67.8 | — | — | 71.3 | 68.8 | — | — | — | — | — | — | — | — | — | |
| PV-RCNNNumber of point cloud frames=12021.01 | 72.39 | 80.6 | 80.15 | 72.81 | 78.16 | 72.01 | 71.81 | 66.05 | 71.8 | 70.42 | 69.13 | 67.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PV-RCNN2022.12 | 72.39 | 80.6 | 80.15 | 72.81 | 78.16 | 72.01 | 71.81 | 66.05 | — | — | — | — | — | — | 72.31 | 69.22 | — | — | — | — | — | — | — | — | — | |
| CenterPointofficial open-source codebase=true2021.01 | 71.9 | — | — | — | — | — | — | 67 | — | — | — | 68.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CenterPointInput=Single-frame2022.12 | 71.9 | — | — | — | — | — | — | 67 | — | — | — | 68.2 | — | — | — | 69 | — | — | — | — | — | — | — | — | — | |
| CenterPointframe_setting=single-frame, model_setting=single-model2023.08 | 71.9 | — | — | — | — | — | — | 67 | — | — | — | 68.2 | — | — | — | 69 | — | — | — | — | — | — | — | — | — | |
| CenterPointNumber of point cloud frames=12021.01 | 71.8 | 80.2 | 79.7 | 72.2 | 78.3 | 72.1 | 72.2 | 66.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CenterPoint2022.12 | 71.8 | 80.2 | 79.7 | 72.2 | 78.3 | 72.1 | 72.2 | 66.4 | — | — | — | — | — | — | 72.2 | 69.1 | — | — | — | — | — | — | — | — | — | |
| CenterPointFrame Setting=single-frame, Test-Time Augmentation=None, Detector Sparsity=Standard2025.06 | 71.8 | 80.2 | 79.7 | 72.2 | 78.3 | 72.1 | 72.2 | 66.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CenterPointStages=Two, Sensors=LT, Frames=12022.05 | 71.8 | 80.2 | 79.7 | 72.2 | 78.3 | 72.1 | 72.2 | 66.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RSNmodel_type=single-model2022.09 | 71.6 | 80.7 | 80.3 | 71.9 | 78.9 | 75.6 | 70.7 | 67.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RSNNumber of point cloud frames=32021.01 | 71.6 | 80.7 | 80.3 | 71.9 | 78.9 | 75.6 | 70.7 | 67.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RSNStages=Two, Sensors=LT, Frames=32022.05 | 71.6 | 80.7 | 80.3 | 71.9 | 78.9 | 75.6 | 70.7 | 67.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| M3DETRmodel_type=single-model2022.09 | 70 | 77.7 | 77.1 | 70.5 | 68.2 | 58.5 | 60.6 | 52 | 67.3 | 65.7 | 65.3 | 63.8 | — | — | — | 61.9 | — | — | — | — | — | — | — | — | — | |
| 3D-MANmodel_type=single-model2022.09 | 70 | 78.7 | 78.3 | 70.4 | 70 | 66 | 64 | 60.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| M3DETRInput frame type=single point cloud frame input2021.04 | 69.98 | 77.66 | 77.09 | 70.54 | 68.2 | 58.5 | 60.64 | 52.03 | 67.28 | 65.69 | 65.31 | 63.75 | 71.05 | 67.09 | 65.5 | 61.92 | — | — | — | — | — | — | — | — | — | |
| 3D-MANStages=Multi, Sensors=L, Frames=152022.05 | 69.98 | 78.71 | 78.28 | 70.37 | 69.97 | 65.98 | 63.98 | 60.26 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PV-RCNN*Input frame type=single point cloud frame input2021.04 | 67.46 | 76.89 | 76.3 | 67.99 | 65.43 | 55.85 | 59.56 | 50.74 | 66.38 | 64.68 | 63.42 | 61.81 | 69.57 | 65.61 | 63.65 | 60 | — | — | — | — | — | — | — | — | — | |
| RCDStages=Two, Frames=12022.05 | 64.7 | 71.97 | 71.59 | 65.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointPillarsStages=One, Sensors=LT, Frames=12022.05 | 60.1 | 68.6 | 68.1 | 60.5 | 68 | 55.5 | 61.4 | 50.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LoGoNetInterpolation Method=Offline N-PCI + CBM, Modality=L+I2025.02 | 59.85 | 63.6 | 63.16 | 60.27 | 68.14 | 60.53 | 62.77 | 55.67 | 42.85 | 41.81 | 37.66 | 36.74 | — | — | — | — | — | 53.57 | 50.75 | — | — | — | — | — | — | |
| LoGoNetInterpolation Method=Offline N-PCI + EMA, Modality=L+I2025.02 | 59.73 | 63.48 | 63.05 | 60.15 | 67.85 | 60.28 | 62.43 | 55.37 | 42.4 | 41.37 | 37.29 | 36.38 | — | — | — | — | — | 53.29 | 50.49 | — | — | — | — | — | — | |
| Ev-3DOD3D Detection Modality=L+I+E2025.02 | 58.85 | 60.3 | 59.95 | 59.19 | 57.4 | 50.78 | 55.3 | 48.93 | 31.08 | 30.38 | 29.69 | 29.03 | — | — | 48.06 | 45.6 | 27.09 | — | — | — | — | — | — | — | — | |
| Ev-3DODInterpolation Method=Online, Modality=L+I+E2025.02 | 58.85 | 60.3 | 59.95 | 59.19 | 57.4 | 50.78 | 55.3 | 48.93 | 31.08 | 30.38 | 29.69 | 29.03 | — | — | — | — | — | 48.06 | 45.6 | — | — | — | — | — | — | |
| VoxelNeXtInterpolation Method=Offline N-PCI, Modality=L2025.02 | 58.67 | 62.96 | 62.51 | 59.1 | 68.43 | 60.77 | 62.85 | 55.69 | 44.55 | 43.15 | 38.88 | 37.65 | — | — | — | — | — | 53.61 | 50.67 | — | — | — | — | — | — | |
| Ev-3DOD-Small3D Detection Modality=L+I+E2025.02 | 56.57 | 57.95 | 57.62 | 56.89 | 51.87 | 45.91 | 49.94 | 44.21 | 27.01 | 26.44 | 25.8 | 25.25 | — | — | 44.21 | 42.01 | 54.14 | — | — | — | — | — | — | — | — | |
| PPBAmodel_type=single-model2022.09 | 55.8 | 64.6 | 64.1 | 56.2 | 69.7 | 61.7 | 63 | 55.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| HEDNetInterpolation Method=Offline N-PCI, Modality=L2025.02 | 55.45 | 59.57 | 59.09 | 55.9 | 63.28 | 55.32 | 58.03 | 50.62 | 43.14 | 41.8 | 37.63 | 36.46 | — | — | — | — | — | 50.52 | 47.51 | — | — | — | — | — | — | |
| PointPillarNumber of point cloud frames=12021.01 | 55.1 | 63.3 | 62.8 | 55.6 | 62.1 | 50.2 | 55.9 | 45.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| StarNetmodel_type=single-model2022.09 | 54.5 | 61.5 | 61 | 54.9 | 67.8 | 59.9 | 61.1 | 54 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| StarNetNumber of point cloud frames=12021.01 | 54.5 | 61.5 | 61 | 54.9 | 67.8 | 59.9 | 61.1 | 54 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Focals ConvInterpolation Method=Offline N-PCI + EMA, Modality=L+I2025.02 | 53.99 | 55.49 | 55.02 | 54.45 | 48.07 | 43.06 | 46.54 | 41.69 | 27.7 | 26.6 | 26.59 | 25.54 | — | — | — | — | — | 42.53 | 40.41 | — | — | — | — | — | — | |
| Focals ConvInterpolation Method=Offline N-PCI + CBM, Modality=L+I2025.02 | 53.98 | 55.48 | 55.01 | 54.44 | 48.07 | 43.06 | 46.54 | 41.68 | 27.67 | 26.57 | 26.56 | 25.5 | — | — | — | — | — | 42.51 | 40.39 | — | — | — | — | — | — | |
| VoxelNeXt3D Detection Modality=L2025.02 | 41.49 | 44.4 | 44.1 | 41.78 | 40.52 | 36.23 | 36.93 | 32.96 | 24.4 | 23.73 | 21.24 | 20.66 | — | — | 33.32 | 31.7 | 17.34 | — | — | — | — | — | — | — | — | |
| VoxelNeXtInterpolation Method=Online, Modality=L2025.02 | 41.49 | 44.4 | 44.1 | 41.78 | 40.52 | 36.23 | 36.93 | 32.96 | 24.4 | 23.73 | 21.24 | 20.66 | — | — | — | — | — | 33.32 | 31.7 | — | — | — | — | — | — | |
| LoGoNet3D Detection Modality=L+I2025.02 | 41.47 | 44.14 | 43.87 | 41.73 | 39.98 | 35.84 | 36.48 | 32.67 | 24.71 | 24.15 | 21.59 | 21.1 | — | — | 33.27 | 31.75 | 10.68 | — | — | — | — | — | — | — | — |