3D Object Detection on Waymo Open Dataset v1.2 (PTPM split protocol)
66.4Overall 3D APPTPM + GeoTeacher
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| PTPM + GeoTeacherLabel Amount=100%, Label Ratio (PL : PU)=1:5, IoU Threshold=0.7, Difficulty Level=LEVEL 22025.12 | 66.4 | 62.52 | 67.8 | 66.97 | 66.59 | 57.46 | 64.8 | 63.14 | |
| PTPMLabel Amount=100%, Label Ratio (PL : PU)=1:5, IoU Threshold=0.7, Difficulty Level=LEVEL 22025.12 | 65.73 | 62.13 | 67.12 | 66.67 | 65.85 | 57.11 | 64.23 | 62.6 | |
| ProficientTeacher + GeoTeacherLabel Amount=100%, Label Ratio (PL : PU)=1:5, IoU Threshold=0.7, Difficulty Level=LEVEL 22025.12 | 65.21 | 61.55 | 66.66 | 66.19 | 65.22 | 56.45 | 63.77 | 62.03 | |
| ProficientTeacherLabel Amount=100%, Label Ratio (PL : PU)=1:5, IoU Threshold=0.7, Difficulty Level=LEVEL 22025.12 | 62.96 | 59.14 | 63.56 | 63.06 | 62.34 | 53.19 | 62.97 | 61.18 | |
| Oracle ModelLabel Amount=100%, IoU Threshold=0.7, Difficulty Level=LEVEL 22025.12 | 62.43 | 58.87 | 65.43 | 64.91 | 61.82 | 52.93 | 60.03 | 58.76 | |
| PTPM + GeoTeacherLabel Amount=20%, Label Ratio (PL : PU)=1:5, IoU Threshold=0.7, Difficulty Level=LEVEL 22025.12 | 61.05 | 57.4 | 62.3 | 61.61 | 60.29 | 51.49 | 60.56 | 59.1 | |
| PTPMLabel Amount=20%, Label Ratio (PL : PU)=1:5, IoU Threshold=0.7, Difficulty Level=LEVEL 22025.12 | 60.49 | 57.02 | 61.62 | 61.16 | 59.78 | 51.17 | 60.07 | 58.74 | |
| ProficientTeacher + GeoTeacherLabel Amount=20%, Label Ratio (PL : PU)=1:5, IoU Threshold=0.7, Difficulty Level=LEVEL 22025.12 | 59.38 | 55.6 | 61.54 | 61.04 | 58.51 | 49.39 | 58.11 | 56.37 | |
| HASSLabel Amount=20%, Label Ratio (PL : PU)=1:5, IoU Threshold=0.7, Difficulty Level=LEVEL 22025.12 | 59.09 | 54.22 | 59.19 | 58.38 | 57.75 | 46.87 | 60.32 | 57.41 | |
| ProficientTeacherLabel Amount=20%, Label Ratio (PL : PU)=1:5, IoU Threshold=0.7, Difficulty Level=LEVEL 22025.12 | 58.59 | 54.16 | 59.97 | 59.36 | 57.88 | 46.97 | 57.93 | 56.15 | |
| PTPM + GeoTeacherLabel Amount=5%, Label Ratio (PL : PU)=1:20, IoU Threshold=0.7, Difficulty Level=LEVEL 22025.12 | 55.45 | 51.88 | 57.84 | 57.53 | 53.65 | 45.01 | 54.88 | 53.1 | |
| PTPMLabel Amount=5%, Label Ratio (PL : PU)=1:20, IoU Threshold=0.7, Difficulty Level=LEVEL 22025.12 | 54.53 | 51.07 | 56.98 | 56.48 | 52.64 | 44.19 | 53.96 | 52.55 | |
| SECONDLabel Amount=20%, Label Ratio (PL : PU)=1:5, IoU Threshold=0.7, Difficulty Level=LEVEL 22025.12 | 53.09 | 49.11 | 57.4 | 56.81 | 51.54 | 41.91 | 50.33 | 48.62 | |
| HASSLabel Amount=5%, Label Ratio (PL : PU)=1:20, IoU Threshold=0.7, Difficulty Level=LEVEL 22025.12 | 52.64 | 48.27 | 53.36 | 52.73 | 50.15 | 39.63 | 54.42 | 52.46 | |
| ProficientTeacher + GeoTeacherLabel Amount=5%, Label Ratio (PL : PU)=1:20, IoU Threshold=0.7, Difficulty Level=LEVEL 22025.12 | 52.38 | 47.07 | 55.28 | 54.69 | 51.7 | 41.44 | 50.18 | 45.09 | |
| ProficientTeacherLabel Amount=5%, Label Ratio (PL : PU)=1:20, IoU Threshold=0.7, Difficulty Level=LEVEL 22025.12 | 51.1 | 45.75 | 53.04 | 52.54 | 50.33 | 38.67 | 49.92 | 46.03 | |
| SECONDLabel Amount=100%, Label Ratio (PL : PU)=1:5, IoU Threshold=0.7, Difficulty Level=LEVEL 22025.12 | 48.8 | 43.35 | 51.87 | 51.27 | 48.28 | 36.56 | 46.26 | 42.21 | |
| SECONDLabel Amount=5%, Label Ratio (PL : PU)=1:20, IoU Threshold=0.7, Difficulty Level=LEVEL 22025.12 | 45.78 | 40.4 | 50.03 | 49.52 | 45.77 | 34.98 | 41.53 | 36.69 |