# 3D Object Detection on Waymo Open Dataset (WOD) (val) (L1/L2 AP and APH)

Source: [3D Object Detection on Waymo Open Dataset (WOD) (val) (L1/L2 AP and APH)](<https://www.sota2.com/research/sota/3d-object-detection-on-waymo-open-dataset-wod-val-l1-l2-ap-and-aph>)

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

Data updated: 2026-02-26T05:47:56.631Z

Evaluation of 3D Object Detection performance on the validation split of the Waymo Open Dataset (WOD), reporting summary Average Precision (AP) and Average Precision Hinge (APH) scores categorized by Level 1 (L1) and Level 2 (L2) difficulty settings.

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 | L1 3D AP |
| 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

- [L1 3D AP](<https://www.sota2.com/research/sota/3d-object-detection-on-waymo-open-dataset-wod-val-l1-l2-ap-and-aph.md?metric=L1%203D%20AP>): Higher is better; unit: PERCENT.

- [L1 3D APH](<https://www.sota2.com/research/sota/3d-object-detection-on-waymo-open-dataset-wod-val-l1-l2-ap-and-aph.md?metric=L1%203D%20APH>): Higher is better; unit: PERCENT.

- [L2 3D AP](<https://www.sota2.com/research/sota/3d-object-detection-on-waymo-open-dataset-wod-val-l1-l2-ap-and-aph.md?metric=L2%203D%20AP>): Higher is better; unit: PERCENT.

- [L2 3D APH](<https://www.sota2.com/research/sota/3d-object-detection-on-waymo-open-dataset-wod-val-l1-l2-ap-and-aph.md?metric=L2%203D%20APH>): Higher is better; unit: PERCENT.

## Recorded results

| Method | L1 3D AP | Result date | Report paper |
| --- | --- | --- | --- |
| MPPNet + TransBridge | 80.94 | Not recorded | 6940e795456146936284f789 |
| MPPNet | 80.21 | Not recorded | 6940e795456146936284f789 |
| Centerpoint + TransBridge | 75.75 | Not recorded | 6940e795456146936284f789 |
| Centerpoint | 74.91 | Not recorded | 6940e795456146936284f789 |

### MPPNet + TransBridge

L1 3D AP: 80.94. Result ID: 6998582c5698665ec4b64560.

[Reporting paper](<https://www.sota2.com/research/paper/6940e795456146936284f789.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6940e795456146936284f789.md>)

Recorded evaluation configuration: {"module":"Enhanced","TransBridge":"true"}. This record does not assert independent reproduction.

### MPPNet

L1 3D AP: 80.21. Result ID: 6998582c5698665ec4b6455f.

[Reporting paper](<https://www.sota2.com/research/paper/6940e795456146936284f789.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d581e209131cea3955c.md>)

Recorded evaluation configuration: {"module":"Baseline","TransBridge":"false"}. This record does not assert independent reproduction.

### Centerpoint + TransBridge

L1 3D AP: 75.75. Result ID: 6998582c5698665ec4b6455e.

[Reporting paper](<https://www.sota2.com/research/paper/6940e795456146936284f789.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6940e795456146936284f789.md>)

Recorded evaluation configuration: {"module":"Enhanced","TransBridge":"true"}. This record does not assert independent reproduction.

### Centerpoint

L1 3D AP: 74.91. Result ID: 6998582c5698665ec4b6455d.

[Reporting paper](<https://www.sota2.com/research/paper/6940e795456146936284f789.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6af91e209131cea2b72c.md>)

[Implementation](<https://github.com/tianweiy/CenterPoint>)

Recorded evaluation configuration: {"module":"Baseline","TransBridge":"false"}. This record does not assert independent reproduction.

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