# 3D Object Detection on Waymo Open Dataset (WOD) 5 sequences, Vehicle, L1 (val)

Source: [3D Object Detection on Waymo Open Dataset (WOD) 5 sequences, Vehicle, L1 (val)](<https://www.sota2.com/research/sota/3d-object-detection-on-waymo-open-dataset-wod-5-sequences-vehicle-l1-val>)

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

Data updated: 2026-02-26T05:21:14.245Z

Evaluation of 3D Object Detection performance on the specific subset of the Waymo Open Dataset consisting of 5 sequences, focusing on the Vehicle class under Level 1 (L1) difficulty settings, reporting 3D Average Precision at IoU thresholds of 0.7 and 0.8.

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 (WOD) 5 sequences, Vehicle, L1 (val) |
| Metric | 3D AP (IoU=0.7) |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 3 of 3 |
| 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

- [3D AP (IoU=0.7)](<https://www.sota2.com/research/sota/3d-object-detection-on-waymo-open-dataset-wod-5-sequences-vehicle-l1-val.md?metric=3D%20AP%20(IoU%3D0.7)>): Higher is better; unit: PERCENT.

- [3D AP (IoU=0.8)](<https://www.sota2.com/research/sota/3d-object-detection-on-waymo-open-dataset-wod-5-sequences-vehicle-l1-val.md?metric=3D%20AP%20(IoU%3D0.8)>): Higher is better; unit: PERCENT.

## Recorded results

| Method | 3D AP (IoU=0.7) | Result date | Report paper |
| --- | --- | --- | --- |
| DetZero | 90.24 | Not recorded | 68fa70541e209131cea4a4b1 |
| Human | 86.45 | Not recorded | 68fa70541e209131cea4a4b1 |
| 3DAL | 85.37 | Not recorded | 68fa70541e209131cea4a4b1 |

### DetZero

3D AP (IoU=0.7): 90.24. Result ID: 699128a93a6c3148490621aa.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70541e209131cea4a4b1.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70541e209131cea4a4b1.md>)

[Implementation](<https://github.com/PJLab-ADG/DetZero>)

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

### Human

3D AP (IoU=0.7): 86.45. Result ID: 699128a93a6c3148490621a8.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70541e209131cea4a4b1.md>)

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

### 3DAL

3D AP (IoU=0.7): 85.37. Result ID: 699128a93a6c3148490621a9.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70541e209131cea4a4b1.md>)

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

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

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