3D Object Detection on Waymo Open Dataset (WOD) (val) (L1/L2 Difficulty)
84.5Vehicle L1 mAP3DAL+
Evaluation results
| Method | Links | |||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 3DAL+Frames=ALL2023.05 | 84.5 | — | — | — | 82.88 | — | — | — | — | — | — | — | — | |
| 3DALFrame=[-inf, inf], Offline=true2023.06 | 84.5 | 84 | 75.8 | 75.3 | 82.9 | 79.8 | 73.6 | 70.8 | — | — | — | — | 73.1 | |
| SWFormer + MoDARBase detector temporal context=[-2, 0], Frame=[-91, 91], Offline=true, Re-implementation=true2023.06 | 84.5 | 84 | 77.5 | 77 | 86.3 | 82.5 | 79.5 | 75.8 | — | — | — | — | 76.4 | |
| SWFormer + MoDARBase detector temporal context=[0, 0], Frame=[-91, 91], Offline=true, Re-implementation=true2023.06 | 82.9 | 82.3 | 75.6 | 75.1 | 85.2 | 81.3 | 78 | 74.3 | — | — | — | — | 74.7 | |
| MPPNetFrames=162023.05 | 82.74 | 82.28 | 75.41 | 74.96 | 84.69 | 82.25 | 77.43 | 75.06 | 77.28 | 76.66 | 75.13 | 74.52 | — | |
| MPPNetFrame=[-15, 0], Offline=false2023.06 | 82.7 | 82.3 | 75.4 | 75 | 84.7 | 82.3 | 77.4 | 75.1 | — | — | — | — | 75.1 | |
| MPPNetFrame=[-3, 0], Offline=false2023.06 | 81.5 | 81.1 | 74.1 | 73.6 | 84.6 | 81.9 | 77.2 | 74.7 | — | — | — | — | 74.2 | |
| SWFormer + MoDARBase detector temporal context=[-2, 0], Frame=[-91, 0], Offline=false, Re-implementation=true2023.06 | 81 | 80.5 | 73.4 | 72.9 | 83.5 | 79.4 | 76.1 | 72.1 | — | — | — | — | 72.5 | |
| Graph-RCNNTraining data percentage=100%2023.03 | 80.8 | 80.3 | 72.6 | 72.1 | 82.4 | 76.6 | 74.4 | 69 | 75.3 | 74.2 | 72.5 | 71.5 | — | |
| SWFormer + MoDARBase detector temporal context=[0, 0], Frame=[-91, 0], Offline=false, Re-implementation=true2023.06 | 80.6 | 80.1 | 72.8 | 72.3 | 83.5 | 79.5 | 75.7 | 71.8 | — | — | — | — | 72.1 | |
| PillarNeXt-BFrames=32023.05 | 80.58 | 80.08 | 72.89 | 72.42 | 85.04 | 82.11 | 78.04 | 75.19 | 78.92 | 77.94 | 76.71 | 75.74 | — | |
| PV-RCNN++*Frames=22023.05 | 80.17 | 79.7 | 72.14 | 71.7 | 83.48 | 80.42 | 75.54 | 72.61 | 74.63 | 73.75 | 72.35 | 71.5 | — | |
| CenterPoint + MoDARFrame=[-91, 91], Offline=true, Re-implementation=true2023.06 | 80.1 | 79.5 | 73.7 | 73.2 | 76.4 | 71.4 | 69.9 | 65 | — | — | — | — | 69.2 | |
| PillarNet-34Frames=22023.05 | 79.98 | 79.47 | 72 | 71.53 | 82.52 | 79.33 | 75 | 71.95 | 70.51 | 69.69 | 68.38 | 67.58 | — | |
| MVF++Frame=[-4, 0], Offline=false, Test-time augmentation=true2023.06 | 79.7 | — | — | — | 81.8 | — | — | — | — | — | — | — | — | |
| PillarNet-18Frames=22023.05 | 79.59 | 79.06 | 71.56 | 71.08 | 82.11 | 78.82 | 74.49 | 71.35 | 70.41 | 69.57 | 68.27 | 67.46 | — | |
| SWFormerFrames=32023.05 | 79.4 | 78.9 | 71.1 | 70.6 | 82.9 | 79 | 74.8 | 71.1 | — | — | — | — | — | |
| PV-RCNN++*Frames=12023.05 | 79.25 | 78.78 | 70.61 | 70.18 | 81.83 | 76.28 | 73.17 | 68 | 73.72 | 72.66 | 71.21 | 70.19 | — | |
| FSDTraining data percentage=100%2023.03 | 79.2 | 78.8 | 70.5 | 70.1 | 82.6 | 77.3 | 73.9 | 69.1 | 77.1 | 76 | 74.4 | 73.3 | — | |
| OcTrTraining data percentage=100%2023.03 | 79.2 | 78.7 | 70.8 | 70.4 | 82.2 | 76.3 | 74 | 68.5 | 73.9 | 72.8 | 71.1 | 69.2 | — | |
| PV-RCNN++Frame=12022.09 | 79.1 | 78.6 | 70.3 | 69.9 | 80.6 | 74.6 | 71.9 | 66.3 | 73.5 | 72.4 | 70.7 | 69.6 | 68.6 | |
| Deformable CenterFormerFrame=82022.09 | 78.8 | 78.3 | 74.3 | 73.8 | 82.1 | 79.3 | 77.8 | 75 | 75.2 | 74.4 | 73.2 | 72.3 | 73.7 | |
| CFNumber of frames=8, Training data percentage=100%2023.03 | 78.8 | 78.3 | 74.3 | 73.8 | 82.1 | 79.3 | 77.8 | 75 | 75.2 | 74.4 | 73.2 | 72.3 | — | |
| CenterFormerFrames=82023.05 | 78.8 | 78.3 | 74.3 | 73.8 | 82.1 | 79.3 | 77.8 | 75 | 75.2 | 74.4 | 73.2 | 72.3 | — | |
| SST-TS*Frames=32023.05 | 78.66 | 78.21 | 69.98 | 69.57 | 83.81 | 80.14 | 75.94 | 72.37 | — | — | — | — | — | |
| SWFormerFrame=[-2, 0], Offline=false, Re-implementation=true2023.06 | 78.5 | 78.1 | 70.1 | 69.7 | 82 | 78.1 | 73.8 | 70.1 | — | — | — | — | 69.9 | |
| PillarNeXt-BFrames=12023.05 | 78.4 | 77.9 | 70.27 | 69.81 | 82.53 | 77.14 | 74.9 | 69.8 | 73.21 | 72.2 | 70.58 | 69.62 | — | |
| RSN*Frames=32023.05 | 78.4 | 78.1 | 69.5 | 69.1 | 79.4 | 76.2 | 69.9 | 67 | — | — | — | — | — | |
| PillarNet-18Frames=12023.05 | 78.24 | 77.73 | 70.4 | 69.92 | 79.8 | 72.59 | 71.57 | 64.9 | 70.4 | 69.29 | 67.75 | 66.68 | — | |
| Deformable CenterFormerFrame=42022.09 | 78.1 | 77.6 | 73.4 | 72.9 | 81.7 | 78.6 | 77.2 | 74.2 | 75.6 | 74.8 | 73.4 | 72.6 | 73.2 | |
| SWFormerFrames=12023.05 | 77.8 | 77.3 | 69.2 | 68.8 | 80.9 | 72.7 | 72.5 | 64.9 | — | — | — | — | — | |
| AFDetV2Frames=12023.05 | 77.64 | 77.14 | 69.68 | 69.22 | 80.19 | 74.62 | 72.16 | 66.95 | 73.72 | 72.74 | 71.06 | 70.12 | — | |
| Part-A2+Frame=12022.09 | 77.1 | 76.5 | 68.5 | 68 | 75.2 | 66.9 | 66.2 | 58.6 | 68.6 | 67.4 | 66.1 | 64.9 | 63.8 | |
| CenterFormerFrame=22022.09 | 77.1 | 76.6 | 72.2 | 71.7 | 80.9 | 77.6 | 76.2 | 73 | 76 | 75.1 | 73.6 | 72.7 | 72.5 | |
| Deformable CenterFormerFrame=22022.09 | 77 | 76.5 | 72.1 | 71.6 | 81.4 | 78 | 76.7 | 73.4 | 76.6 | 75.7 | 74.2 | 73.3 | 72.8 | |
| SWFormerFrame=[0, 0], Offline=false, Re-implementation=true2023.06 | 77 | 76.5 | 68.3 | 67.9 | 80.9 | 72.3 | 72.3 | 64.4 | — | — | — | — | 66.2 | |
| SST-TS*Frames=12023.05 | 76.22 | 75.79 | 68.04 | 67.64 | 81.39 | 74.05 | 72.82 | 65.93 | — | — | — | — | — | |
| CenterPoint + MoDARFrame=[-91, 0], Offline=false, Re-implementation=true2023.06 | 76.1 | 75.6 | 68.9 | 68.4 | 73.8 | 68.7 | 66.9 | 62.1 | — | — | — | — | 65.3 | |
| Deformable CenterFormerFrame=12022.09 | 75.2 | 74.7 | 70.2 | 69.7 | 78.6 | 73 | 73.6 | 68.3 | 72.3 | 71.3 | 69.8 | 68.8 | 69 | |
| CFNumber of frames=1, Training data percentage=100%2023.03 | 75.2 | 74.7 | 70.2 | 69.7 | 78.6 | 73 | 73.6 | 68.3 | 72.3 | 71.3 | 69.8 | 68.8 | — | |
| CenterFormerFrame=12022.09 | 75 | 74.4 | 69.9 | 69.4 | 78 | 72.4 | 73.1 | 67.7 | 73.8 | 72.7 | 71.3 | 70.2 | 69.1 | |
| 3D-MANFrame=162022.09 | 74.5 | 74 | 67.6 | 67.1 | 71.7 | 67.7 | 62.6 | 59 | — | — | — | — | — | |
| 3D-MANFrame=[-15, 0], Offline=false2023.06 | 74.5 | 74 | 67.6 | 67.1 | 71.7 | 67.7 | 62.6 | 59 | — | — | — | — | 63.1 | |
| LiDAR R-CNNFrame=12022.09 | 73.5 | 73 | 64.7 | 64.2 | 71.2 | 58.7 | 63.1 | 51.7 | 68.6 | 66.9 | 66.1 | 64.4 | 60.1 | |
| CenterPointFrame=[0, 0], Offline=false, Re-implementation=true2023.06 | 72.9 | 72.3 | 64.7 | 64.2 | 71.9 | 58.3 | 64.3 | 51.9 | — | — | — | — | 58.1 | |
| SECOND+Frame=12022.09 | 72.3 | 71.7 | 63.9 | 63.3 | 68.7 | 58.2 | 60.7 | 51.3 | 60.6 | 59.3 | 58.3 | 57.1 | 57.2 | |
| StarNetFrame=12022.09 | 55.1 | 54.6 | 48.7 | 48.3 | 68.3 | 60.9 | 59.3 | 52.8 | — | — | — | — | — | |
| CenterPointFrame=12022.09 | — | — | — | 67.9 | — | — | — | 65.6 | — | — | — | 68.6 | 67.4 | |
| CenterPointFrame=22022.09 | — | — | — | 69.7 | — | — | — | 70.3 | — | — | — | 70.9 | 70.3 |