3D Object Detection on Waymo Open Dataset (WOD) (val) (Vehicle & Pedestrian L1/L2)
86.3Vehicle L1 3D APLidarAug + MoDAR
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| LidarAug + MoDARFrame=[-91, 91], Offline Method?=true, Implementation=re-implementation2023.06 | 86.3 | 85.8 | 79.5 | 79 | 87.7 | 84.6 | 81.1 | 78 | 78.5 | |
| MVF++ + 3DALFrame=[-∞, ∞], Offline Method?=true2023.06 | 84.5 | 84 | 75.8 | 75.3 | 82.9 | 79.8 | 73.6 | 70.8 | 73.1 | |
| FSD + Object-Centric Occupancy Completion NetworkFrame Range=[-∞, 0], Note=Entry based on [-6, 0] baseline2024.12 | 83.3 | 82.9 | 75.7 | 75.2 | — | — | — | — | — | |
| FSDv2 + Object-Centric Occupancy Completion Network (no train)Frame Range=[-∞, 0]2024.12 | 83.2 | 82.7 | 75.2 | 74.7 | — | — | — | — | — | |
| FSD + Object-Centric Occupancy Completion NetworkFrame Range=[-∞, 0]2024.12 | 82.8 | 82.3 | 74.8 | 74.4 | — | — | — | — | — | |
| MPPNetFrame Range=[-15, 0]2024.12 | 82.7 | 82.3 | 75.4 | 75 | — | — | — | — | — | |
| CenterPoint + Object-Centric Occupancy Completion NetworkFrame Range=[-∞, 0]2024.12 | 81.8 | 81.3 | 73.6 | 73.2 | — | — | — | — | — | |
| MPPNetFrame Range=[-3, 0]2024.12 | 81.5 | 81.1 | 74.1 | 73.6 | — | — | — | — | — | |
| LidarAugFrame=[-2, 0], Offline Method?=false, Implementation=re-implementation2023.06 | 81.4 | 80.9 | 73.3 | 72.8 | 84.1 | 80.4 | 76.5 | 72.9 | 72.9 | |
| FSD++Frame Range=[-6, 0]2024.12 | 81.4 | 80.9 | 73.3 | 72.9 | — | — | — | — | — | |
| HEDNetFrame Range=[0, 0]2024.12 | 81.1 | 80.6 | 73.2 | 72.7 | — | — | — | — | — | |
| SWFormer* + MODARFrame Range=[-91, 0], Source=MoDAR, Note=Entry based on [-2, 0] baseline2024.12 | 81 | 80.5 | 73.4 | 72.9 | — | — | — | — | — | |
| FSD (re-impl)Frame Range=[-6, 0]2024.12 | 80.9 | 80.5 | 73.1 | 72.7 | — | — | — | — | — | |
| SWFormer* + MODARFrame Range=[-91, 0], Source=MoDAR2024.12 | 80.6 | 80.1 | 72.8 | 72.3 | — | — | — | — | — | |
| FSDv2Frame Range=[0, 0]2024.12 | 79.8 | 79.3 | 71.4 | 71 | — | — | — | — | — | |
| MVF++Frame=[-4, 0], Offline Method?=false, test-time-augmentation=10x2023.06 | 79.7 | — | — | — | 81.8 | — | — | — | — | |
| MVF++Frame Range=[-4, 0]2024.12 | 79.7 | — | — | — | — | — | — | — | — | |
| CenterFormerFrame Range=[-7, 0]2024.12 | 78.8 | 78.3 | 74.3 | 73.8 | — | — | — | — | — | |
| FSD (re-impl)Frame Range=[0, 0]2024.12 | 78.7 | 78.3 | 70.1 | 69.7 | — | — | — | — | — | |
| SWFormer*Frame Range=[-2, 0], Source=MoDAR2024.12 | 78.5 | 78.1 | 70.1 | 69.7 | — | — | — | — | — | |
| VoxelNeXtFrame Range=[0, 0]2024.12 | 78.2 | 77.7 | 69.9 | 69.4 | — | — | — | — | — | |
| CenterFormerFrame Range=[-3, 0]2024.12 | 78.1 | 77.6 | 73.4 | 72.9 | — | — | — | — | — | |
| SWFormer*Frame Range=[0, 0], Source=MoDAR2024.12 | 77 | 76.5 | 68.3 | 67.9 | — | — | — | — | — | |
| CenterPoint* + MODARFrame Range=[-91, 0], Source=MoDAR2024.12 | 76.1 | 75.6 | 68.9 | 68.4 | — | — | — | — | — | |
| 3D-MANFrame Range=[-15, 0]2024.12 | 74.5 | 74 | 67.6 | 67.1 | — | — | — | — | — | |
| CenterPoint (re-impl)Frame Range=[0, 0]2024.12 | 73.2 | 72.7 | 65.2 | 64.6 | — | — | — | — | — | |
| CenterPoint*Frame Range=[0, 0], Source=MoDAR2024.12 | 72.9 | 72.3 | 64.7 | 64.2 | — | — | — | — | — |