3D Object Detection on Waymo Open Dataset Vehicle class (val)
1,7543D mAP (Overall)CaDNN
Evaluation Results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| CaDNNDifficulty=LEVEL_1, IoU criteria=0.52021.03 | 1,754 | 4,500 | 924 | 64 | 1,731 | 4,446 | 911 | 62 | |
| CaDNNDifficulty=LEVEL_2, IoU criteria=0.52021.03 | 1,651 | 4,487 | 899 | 58 | 1,628 | 4,433 | 886 | 55 | |
| CaDNNDifficulty=LEVEL_1, IoU criteria=0.72021.03 | 503 | 1,454 | 147 | 10 | 499 | 1,443 | 145 | 10 | |
| CaDNNDifficulty=LEVEL_2, IoU criteria=0.72021.03 | 449 | 1,450 | 142 | 9 | 445 | 1,438 | 141 | 9 | |
| M3D-RPNDifficulty=LEVEL_1, IoU criteria=0.52021.03 | 379 | 1,114 | 216 | 26 | 363 | 1,070 | 209 | 21 | |
| M3D-RPNDifficulty=LEVEL_2, IoU criteria=0.52021.03 | 361 | 1,112 | 212 | 24 | 346 | 1,067 | 204 | 20 | |
| M3D-RPNDifficulty=LEVEL_1, IoU criteria=0.72021.03 | 35 | 112 | 18 | 2 | 34 | 110 | 18 | 2 | |
| M3D-RPNDifficulty=LEVEL_2, IoU criteria=0.72021.03 | 33 | 112 | 18 | 2 | 33 | 110 | 17 | 2 |