# 3D Object Detection on Waymo Open Dataset (WOD) (val) (L1/L2 AP by IoU Threshold)

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

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

Data updated: 2026-02-26T05:21:23.285Z

Evaluation of 3D Object Detection performance on the validation split of the Waymo Open Dataset (WOD), reporting specific Average Precision (AP) scores categorized by Level 1 (L1) and Level 2 (L2) difficulty settings, calculated at IoU thresholds of 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 | 3D AP L1 (IoU=0.7) |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 5 of 5 |
| 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 L1 (IoU=0.7)](<https://www.sota2.com/research/sota/3d-object-detection-on-waymo-open-dataset-wod-val-l1-l2-ap-by-iou-threshold.md?metric=3D%20AP%20L1%20(IoU%3D0.7)>): Higher is better; unit: PERCENT.

- [3D AP L1 (IoU=0.5)](<https://www.sota2.com/research/sota/3d-object-detection-on-waymo-open-dataset-wod-val-l1-l2-ap-by-iou-threshold.md?metric=3D%20AP%20L1%20(IoU%3D0.5)>): Higher is better; unit: PERCENT.

- [3D AP L2 (IoU=0.5)](<https://www.sota2.com/research/sota/3d-object-detection-on-waymo-open-dataset-wod-val-l1-l2-ap-by-iou-threshold.md?metric=3D%20AP%20L2%20(IoU%3D0.5)>): Higher is better; unit: PERCENT.

- [3D AP L2 (IoU=0.7)](<https://www.sota2.com/research/sota/3d-object-detection-on-waymo-open-dataset-wod-val-l1-l2-ap-by-iou-threshold.md?metric=3D%20AP%20L2%20(IoU%3D0.7)>): Higher is better; unit: PERCENT.

## Recorded results

| Method | 3D AP L1 (IoU=0.7) | Result date | Report paper |
| --- | --- | --- | --- |
| CenterPoint | 73.72 | Not recorded | 68fa73e41e209131cea5eb63 |
| CPD | 37.4 | Not recorded | 68fa73e41e209131cea5eb63 |
| Sparsely-sup. | 32.15 | Not recorded | 68fa73e41e209131cea5eb63 |
| OYSTER | 14.66 | Not recorded | 68fa73e41e209131cea5eb63 |
| MODEST | 6.46 | Not recorded | 68fa73e41e209131cea5eb63 |

### CenterPoint

3D AP L1 (IoU=0.7): 73.72. Result ID: 699324493a6c31484914005a.

[Reporting paper](<https://www.sota2.com/research/paper/68fa73e41e209131cea5eb63.md>)

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

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

Recorded evaluation configuration: {"Labels":"100%"}. This record does not assert independent reproduction.

### CPD

3D AP L1 (IoU=0.7): 37.4. Result ID: 699324493a6c31484914005e.

[Reporting paper](<https://www.sota2.com/research/paper/68fa73e41e209131cea5eb63.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa73e41e209131cea5eb63.md>)

[Implementation](<https://github.com/hailanyi/CPD>)

Recorded evaluation configuration: {"Labels":"0"}. This record does not assert independent reproduction.

### Sparsely-sup.

3D AP L1 (IoU=0.7): 32.15. Result ID: 699324493a6c31484914005b.

[Reporting paper](<https://www.sota2.com/research/paper/68fa73e41e209131cea5eb63.md>)

Recorded evaluation configuration: {"Labels":"2%"}. This record does not assert independent reproduction.

### OYSTER

3D AP L1 (IoU=0.7): 14.66. Result ID: 699324493a6c31484914005d.

[Reporting paper](<https://www.sota2.com/research/paper/68fa73e41e209131cea5eb63.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa710e1e209131cea4ef13.md>)

Recorded evaluation configuration: {"Labels":"0"}. This record does not assert independent reproduction.

### MODEST

3D AP L1 (IoU=0.7): 6.46. Result ID: 699324493a6c31484914005c.

[Reporting paper](<https://www.sota2.com/research/paper/68fa73e41e209131cea5eb63.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c181e209131cea32213.md>)

[Implementation](<https://github.com/YurongYou/MODEST>)

Recorded evaluation configuration: {"Labels":"0"}. This record does not assert independent reproduction.

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