# 3D Object Detection on Waymo Open Dataset (WOD) (val) (AP L2 by View & IoU) Source: [3D Object Detection on Waymo Open Dataset (WOD) (val) (AP L2 by View & IoU)]() Collection index: [llms.txt]() Data updated: 2026-02-26T06:08:11.783Z Evaluation of 3D Object Detection performance on the validation split of the Waymo Open Dataset (WOD). This benchmark reports Average Precision (AP) scores for Vehicle, Pedestrian, and Cyclist classes, categorized by Level 2 (L2) difficulty, across both 3D and Bird's Eye View (BEV) perspectives, utilizing Intersection over Union (IoU) thresholds of 0.3, 0.5, and 0.7. 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) (val) | | Metric | Vehicle 3D AP L2 (IoU=0.5) | | Unit | PERCENT | | Direction | Higher is better | | Results loaded | 6 of 6 | | 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 - [Vehicle 3D AP L2 (IoU=0.5)](): Higher is better; unit: PERCENT. - [Vehicle 3D AP L2 (IoU=0.7)](): Higher is better; unit: PERCENT. - [Vehicle BEV AP L2 (IoU=0.5)](): Higher is better; unit: PERCENT. - [Vehicle BEV AP L2 (IoU=0.7)](): Higher is better; unit: PERCENT. - [Pedestrian 3D AP L2 (IoU=0.3)](): Higher is better; unit: PERCENT. - [Pedestrian 3D AP L2 (IoU=0.5)](): Higher is better; unit: PERCENT. - [Pedestrian BEV AP L2 (IoU=0.3)](): Higher is better; unit: PERCENT. - [Pedestrian BEV AP L2 (IoU=0.5)](): Higher is better; unit: PERCENT. - [Cyclist 3D AP L2 (IoU=0.3)](): Higher is better; unit: PERCENT. - [Cyclist 3D AP L2 (IoU=0.5)](): Higher is better; unit: PERCENT. - [Cyclist BEV AP L2 (IoU=0.3)](): Higher is better; unit: PERCENT. - [Cyclist BEV AP L2 (IoU=0.5)](): Higher is better; unit: PERCENT. ## Recorded results | Method | Vehicle 3D AP L2 (IoU=0.5) | Result date | Report paper | | --- | --- | --- | --- | | CPD | 50.67 | Not recorded | 68fa73e41e209131cea5eb63 | | Proto-vanilla | 31.58 | Not recorded | 68fa73e41e209131cea5eb63 | | OYSTER | 26.21 | Not recorded | 68fa73e41e209131cea5eb63 | | MODEST | 15.83 | Not recorded | 68fa73e41e209131cea5eb63 | | DBSCAN | 14.87 | Not recorded | 68fa73e41e209131cea5eb63 | | DBSCAN | 1.94 | Not recorded | 68fa73e41e209131cea5eb63 | ### CPD Vehicle 3D AP L2 (IoU=0.5): 50.67. Result ID: 699324493a6c314849140077. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### Proto-vanilla Vehicle 3D AP L2 (IoU=0.5): 31.58. Result ID: 699324493a6c314849140076. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### OYSTER Vehicle 3D AP L2 (IoU=0.5): 26.21. Result ID: 699324493a6c314849140075. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### MODEST Vehicle 3D AP L2 (IoU=0.5): 15.83. Result ID: 699324493a6c314849140074. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### DBSCAN Vehicle 3D AP L2 (IoU=0.5): 14.87. Result ID: 699324493a6c314849140073. [Reporting paper]() Recorded evaluation configuration: {"training":"init-train"}. This record does not assert independent reproduction. ### DBSCAN Vehicle 3D AP L2 (IoU=0.5): 1.94. Result ID: 699324493a6c314849140072. [Reporting paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.