# 3D Object Detection on Waymo Open Dataset (WOD) (val) (APH by L-Level and IoU Threshold) Source: [3D Object Detection on Waymo Open Dataset (WOD) (val) (APH by L-Level and IoU Threshold)]() Collection index: [llms.txt]() Data updated: 2026-02-26T06:08:12.093Z Evaluation of 3D Object Detection performance on the validation split of the Waymo Open Dataset (WOD), reporting Average Precision Hinge (APH) scores for Vehicle, Pedestrian, and Cyclist classes, broken down by L1/L2 difficulty levels and specific IoU thresholds (0.3, 0.5, 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 APH (L1, IoU=0.5) | | Unit | PERCENT | | Direction | Higher is better | | Results loaded | 4 of 4 | | 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 APH (L1, IoU=0.5)](): Higher is better; unit: PERCENT. - [Vehicle APH (L1, IoU=0.7)](): Higher is better; unit: PERCENT. - [Vehicle APH (L2, IoU=0.5)](): Higher is better; unit: PERCENT. - [Vehicle APH (L2, IoU=0.7)](): Higher is better; unit: PERCENT. - [Pedestrian APH (L1, IoU=0.3)](): Higher is better; unit: PERCENT. - [Pedestrian APH (L1, IoU=0.5)](): Higher is better; unit: PERCENT. - [Pedestrian APH (L2, IoU=0.3)](): Higher is better; unit: PERCENT. - [Pedestrian APH (L2, IoU=0.5)](): Higher is better; unit: PERCENT. - [Cyclist APH (L1, IoU=0.3)](): Higher is better; unit: PERCENT. - [Cyclist APH (L1, IoU=0.5)](): Higher is better; unit: PERCENT. - [Cyclist APH (L2, IoU=0.3)](): Higher is better; unit: PERCENT. - [Cyclist APH (L2, IoU=0.5)](): Higher is better; unit: PERCENT. ## Recorded results | Method | Vehicle APH (L1, IoU=0.5) | Result date | Report paper | | --- | --- | --- | --- | | CPD | 54.19 | Not recorded | 68fa73e41e209131cea5eb63 | | Proto-vanilla | 32.34 | Not recorded | 68fa73e41e209131cea5eb63 | | OYSTER | 28.56 | Not recorded | 68fa73e41e209131cea5eb63 | | MODEST | 16.43 | Not recorded | 68fa73e41e209131cea5eb63 | ### CPD Vehicle APH (L1, IoU=0.5): 54.19. Result ID: 699324493a6c314849140066. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### Proto-vanilla Vehicle APH (L1, IoU=0.5): 32.34. Result ID: 699324493a6c314849140065. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### OYSTER Vehicle APH (L1, IoU=0.5): 28.56. Result ID: 699324493a6c314849140064. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### MODEST Vehicle APH (L1, IoU=0.5): 16.43. Result ID: 699324493a6c314849140063. [Reporting paper]() [Method origin paper]() [Implementation]() 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.