3D Object Detection on Waymo Open Dataset (WOD) (val)
80.1Overall L2 APHMPA3D
Evaluation results
| Method | Links | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| MPA3DNumber of frames=42026.05 | 80.1 | 86.4 | 84.9 | 81.6 | 85.4 | 84.9 | 78.7 | 78.2 | 87.1 | 84.1 | 81.2 | 78.2 | 86.7 | 85.8 | 84.9 | 84 | |
| MPA3D2026.05 | 80.1 | 86.4 | 84.9 | 81.6 | — | — | — | — | — | — | — | — | — | — | — | — | |
| MAD2026.05 | 79.4 | 85.8 | 84.2 | 81 | — | — | — | — | — | — | — | — | — | — | — | — | |
| SAFDNetNumber of frames=42026.05 | 77.1 | 83.9 | 82.6 | 78.4 | 82.8 | 82.3 | 75.4 | 74.9 | 86.8 | 84.2 | 80.1 | 77.5 | 82 | 81.1 | 79.6 | 78.8 | |
| HEDNetNumber of frames=42026.05 | 76.8 | 83.6 | 82.3 | 78.1 | 82.4 | 81.9 | 75.1 | 74.6 | 86.3 | 83.6 | 79.4 | 76.8 | 82.2 | 81.4 | 79.9 | 79.1 | |
| PTT2026.05 | 75.7 | 82.7 | 80.7 | 77.7 | — | — | — | — | — | — | — | — | — | — | — | — | |
| MSF2026.05 | 75.5 | 82.2 | 80.7 | 76.8 | — | — | — | — | — | — | — | — | — | — | — | — | |
| MPPNet2026.05 | 74.8 | 81.6 | 81.1 | 76 | — | — | — | — | — | — | — | — | — | — | — | — | |
| HEDNetNumber of frames=12026.05 | 73.7 | 81.6 | 79.7 | 75.6 | 80.9 | 80.5 | 73.1 | 72.7 | 84.6 | 80.2 | 77.1 | 72.8 | 79.4 | 78.5 | 76.6 | 75.6 | |
| SAFDNetNumber of frames=12026.05 | 73.6 | 81.7 | 79.7 | 75.5 | 80.5 | 80 | 72.5 | 72.1 | 84.7 | 80.2 | 77.1 | 72.9 | 79.8 | 78.8 | 76.9 | 75.9 | |
| FSDv2Number of frames=12026.05 | 73.5 | 81.8 | 79.5 | 75.6 | 79.8 | 79.3 | 71.4 | 71 | 84.8 | 79.7 | 77.4 | 72.5 | 80.7 | 79.6 | 77.9 | 76.8 | |
| MoDAR2026.05 | 72.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DSVT-VoxelNumber of frames=12026.05 | 72.1 | 80.3 | 78.2 | 74 | 79.7 | 79.3 | 71.4 | 71 | 83.7 | 78.9 | 76.1 | 71.5 | 77.5 | 76.5 | 74.6 | 73.7 | |
| LEF2026.05 | 70.9 | 79.6 | 79.2 | 71.4 | — | — | — | — | — | — | — | — | — | — | — | — | |
| FSDv1Number of frames=12026.05 | 70.8 | 79.6 | 77.4 | 72.9 | 79.2 | 78.8 | 70.5 | 70.1 | 82.6 | 77.3 | 73.9 | 69.1 | 77.1 | 76 | 74.4 | 73.3 | |
| CenterpointNumber of frames=22026.05 | 70.1 | 77.5 | 75.8 | 71.7 | 76.4 | 75.9 | 68.7 | 68.2 | 79.2 | 75.6 | 71.9 | 68.5 | 76.8 | 75.9 | 74.4 | 73.5 | |
| PV-RCNN++Number of frames=12026.05 | 69.5 | 78.1 | 75.9 | 71.7 | 79.3 | 78.8 | 70.6 | 70.2 | 81.3 | 76.3 | 73.2 | 68 | 73.7 | 72.7 | 71.2 | 70.2 | |
| CenterFormerNumber of frames=12026.05 | 69.1 | 75.6 | 73.2 | 71.4 | 75 | 74.4 | 69.9 | 69.4 | 78 | 72.4 | 73.1 | 67.7 | 73.8 | 72.7 | 71.3 | 70.2 | |
| PillarNet-34Number of frames=12026.05 | 68.5 | 77.3 | 74.6 | 71 | 79.1 | 78.6 | 70.9 | 70.5 | 80.6 | 74 | 72.3 | 66.2 | 72.3 | 71.2 | 69.7 | 68.7 | |
| CenterpointNumber of frames=12026.05 | 67.6 | 76.1 | 73.5 | 70 | 75.7 | 75.2 | 67.9 | 67.4 | 77.6 | 71.6 | 70.1 | 64.4 | 74.9 | 73.8 | 72.1 | 71 | |
| SSTNumber of frames=12026.05 | 64.6 | 74.5 | 71 | 67.8 | 74.2 | 73.8 | 65.5 | 65.1 | 78.7 | 69.6 | 70 | 61.7 | 70.7 | 69.6 | 68 | 66.9 | |
| Part-A2-NetNumber of frames=12026.05 | 63.8 | 73.6 | 70.3 | 66.9 | 77.1 | 76.5 | 68.5 | 68 | 75.2 | 66.9 | 66.2 | 58.6 | 68.6 | 67.4 | 66.1 | 64.9 | |
| PointPillarNumber of frames=12026.05 | 57.8 | 69 | 63.5 | 62.8 | 72.1 | 71.5 | 63.6 | 63.1 | 70.6 | 56.7 | 62.8 | 50.3 | 64.4 | 62.3 | 61.9 | 59.9 | |
| SECONDNumber of frames=12026.05 | 57.2 | 67.2 | 63.1 | 61 | 72.3 | 71.7 | 63.9 | 63.3 | 68.7 | 58.2 | 60.7 | 51.3 | 60.6 | 59.3 | 58.3 | 57 | |
| SWFormerNumber of frames=12026.05 | — | — | — | — | 77.8 | 77.3 | 69.2 | 68.8 | 80.9 | 72.7 | 72.5 | 64.9 | — | — | — | — |