3D Object Detection on Waymo Open Dataset v1.4 (val)
80.8AP Vehicle (L1)Graph-RCNN
Evaluation Results
| Method | Links | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Graph-RCNNFrame setting=single-frame, Model setting=single-model2023.08 | 80.8 | 79.5 | 77 | 73.2 | 70.9 | 80.3 | 72.6 | 72.1 | 82.4 | 76.6 | 74.4 | 69 | 75.3 | 74.2 | 72.5 | 71.5 | |
| DSVTFrame setting=single-frame, Model setting=single-model2023.08 | 80.4 | 81.1 | 78.9 | 74.8 | 72.8 | 79.9 | 72.2 | 71.8 | 84.2 | 79.3 | 76.5 | 71.8 | 78.6 | 77.6 | 75.7 | 74.7 | |
| GD-MAEFrame setting=single-frame, Model setting=single-model2023.08 | 80.2 | 80.2 | 77.6 | 74.1 | 71.6 | 79.8 | 72.4 | 72 | 83.1 | 76.7 | 75.5 | 69.4 | 77.2 | 76.2 | 74.4 | 73.4 | |
| FSDv2Frame setting=single-frame, Model setting=single-model2023.08 | 79.8 | 81.8 | 79.5 | 75.6 | 73.5 | 79.3 | 71.4 | 71 | 84.8 | 79.7 | 77.4 | 72.5 | 80.7 | 79.6 | 77.9 | 76.8 | |
| PV-RCNN++(center)Frame setting=single-frame, Model setting=single-model2023.08 | 79.3 | 78.1 | 75.9 | 71.7 | 69.5 | 78.8 | 70.6 | 70.2 | 81.3 | 76.3 | 73.2 | 68 | 73.7 | 72.7 | 71.2 | 70.2 | |
| FSDv1Frame setting=single-frame, Model setting=single-model2023.08 | 79.2 | 79.6 | 77.4 | 72.9 | 70.8 | 78.8 | 70.5 | 70.1 | 82.6 | 77.3 | 73.9 | 69.1 | 77.1 | 76 | 74.4 | 73.3 | |
| PillarNet-34Frame setting=single-frame, Model setting=single-model2023.08 | 79.1 | 77.4 | 74.6 | 71 | 68.5 | 78.6 | 70.9 | 70.5 | 80.6 | 74 | 72.3 | 66.2 | 72.3 | 71.2 | 69.7 | 68.7 | |
| FlatFormerFrame setting=single-frame, Model setting=single-model2023.08 | 78.6 | 79.3 | 77.1 | 72.7 | 70.5 | 78.1 | 69.8 | 69.4 | 82.9 | 77.5 | 74.3 | 69.3 | 76.6 | 75.6 | 73.9 | 72.8 | |
| Voxel-RCNNFrame setting=single-frame, Model setting=single-model2023.08 | 78.5 | 77.8 | 75.5 | 71.4 | 69.2 | 78 | 69.9 | 69.5 | 81.2 | 76 | 73.3 | 68.3 | 73.6 | 72.6 | 70.9 | 69.8 | |
| ConQueRFrame setting=single-frame, Model setting=single-model2023.08 | 78.4 | 79.4 | 77 | 74 | 71.6 | 77.9 | 71 | 70.5 | 82.4 | 76.6 | 75.8 | 70.1 | 77.5 | 76.4 | 75.2 | 74.1 | |
| VoxelNeXtFrame setting=single-frame, Model setting=single-model2023.08 | 78.2 | 78.6 | 76.3 | 72.2 | 70.1 | 77.7 | 69.9 | 69.4 | 81.5 | 76.3 | 73.5 | 68.6 | 76.1 | 74.9 | 73.3 | 72.2 | |
| AFDetV2Frame setting=single-frame, Model setting=single-model2023.08 | 77.6 | 77.2 | 74.8 | 71 | 68.8 | 77.1 | 69.7 | 69.2 | 80.2 | 74.6 | 72.2 | 67 | 73.7 | 72.7 | 71 | 70.1 | |
| Part-A2-NetFrame setting=single-frame, Model setting=single-model2023.08 | 77.1 | 73.6 | 70.3 | 66.9 | 63.8 | 76.5 | 68.5 | 68 | 75.2 | 66.9 | 66.2 | 58.6 | 68.6 | 67.4 | 66.1 | 64.9 | |
| CenterPointFrame setting=single-frame, Model setting=single-model2023.08 | 76.6 | 75.9 | 73.5 | 69.8 | 67.6 | 76 | 68.9 | 68.4 | 79 | 73.4 | 71 | 65.8 | 72.1 | 71 | 69.5 | 68.5 | |
| SST_TSFrame setting=single-frame, Model setting=single-model2023.08 | 76.2 | — | — | — | — | 75.8 | 68 | 67.6 | 81.4 | 74 | 72.8 | 65.9 | — | — | — | — | |
| LiDAR-RCNNFrame setting=single-frame, Model setting=single-model2023.08 | 76 | 71.9 | 67 | 65.8 | 61.3 | 75.5 | 68.3 | 67.9 | 71.2 | 58.7 | 63.1 | 51.7 | 68.6 | 66.9 | 66.1 | 64.4 | |
| M3DETRFrame setting=single-frame, Model setting=single-model2023.08 | 75.7 | 68.7 | 65.2 | 61.8 | 58.7 | 75.1 | 66.6 | 66 | 65 | 56.4 | 56 | 48.4 | 65.4 | 64.2 | 62.7 | 61.5 | |
| RSNFrame setting=single-frame, Model setting=single-model2023.08 | 75.1 | — | — | — | — | 74.6 | 66 | 65.5 | 77.8 | 72.7 | 68.3 | 63.7 | — | — | — | — | |
| CenterFormerFrame setting=single-frame, Model setting=single-model2023.08 | 75 | 75.6 | 73.2 | 71.4 | 69.1 | 74.4 | 69.9 | 69.4 | 78 | 72.4 | 73.1 | 67.7 | 73.8 | 72.7 | 71.3 | 70.2 | |
| RangeDetFrame setting=single-frame, Model setting=single-model2023.08 | 72.9 | 71.5 | 69.5 | 65 | 63.2 | 72.3 | 64 | 63.6 | 75.9 | 71.9 | 67.6 | 63.9 | 65.7 | 64.4 | 63.3 | 62.1 | |
| SECONDFrame setting=single-frame, Model setting=single-model2023.08 | 72.3 | 67.2 | 63.1 | 61 | 57.2 | 71.7 | 63.9 | 63.3 | 68.7 | 58.2 | 60.7 | 51.3 | 60.6 | 59.3 | 58.3 | 57 | |
| PointPillarsFrame setting=single-frame, Model setting=single-model2023.08 | 72.1 | 69 | 63.5 | 62.8 | 57.8 | 71.5 | 63.6 | 63.1 | 70.6 | 56.7 | 62.8 | 50.3 | 64.4 | 62.3 | 61.9 | 59.9 | |
| IA-SSDFrame setting=single-frame, Model setting=single-model2023.08 | 70.5 | 69.2 | 64.5 | 62.3 | 58.1 | 69.7 | 61.6 | 61 | 69.4 | 58.5 | 60.3 | 50.7 | 67.7 | 65.3 | 65 | 62.7 |