# 3D Object Detection on Waymo Open Dataset (WOD) (val) (Vehicle & Pedestrian L1/L2) Source: [3D Object Detection on Waymo Open Dataset (WOD) (val) (Vehicle & Pedestrian L1/L2)]() Collection index: [llms.txt]() Data updated: 2026-02-26T06:08:12.289Z Evaluation of 3D Object Detection performance on the validation split of the Waymo Open Dataset (WOD), specifically reporting L1 and L2 Average Precision (AP) and Average Precision Hinge (APH) metrics for Vehicle and Pedestrian classes. 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 L1 3D AP | | Unit | PERCENT | | Direction | Higher is better | | Results loaded | 27 of 27 | | 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 L1 3D AP](): Higher is better; unit: PERCENT. - [Vehicle L1 3D APH](): Higher is better; unit: PERCENT. - [Vehicle L2 3D AP](): Higher is better; unit: PERCENT. - [Vehicle L2 3D APH](): Higher is better; unit: PERCENT. - [Pedestrian L1 3D AP](): Higher is better; unit: PERCENT. - [Pedestrian L1 3D APH](): Higher is better; unit: PERCENT. - [Pedestrian L2 3D AP](): Higher is better; unit: PERCENT. - [Pedestrian L2 3D APH](): Higher is better; unit: PERCENT. - [L2 3D mAPH](): Higher is better; unit: PERCENT. ## Recorded results | Method | Vehicle L1 3D AP | Result date | Report paper | | --- | --- | --- | --- | | LidarAug + MoDAR | 86.3 | Not recorded | 68fa6fa21e209131cea46d29 | | MVF++ + 3DAL | 84.5 | Not recorded | 68fa6fa21e209131cea46d29 | | FSD + Object-Centric Occupancy Completion Network | 83.3 | Not recorded | 68fa76141e209131cea6b4a7 | | FSDv2 + Object-Centric Occupancy Completion Network (no train) | 83.2 | Not recorded | 68fa76141e209131cea6b4a7 | | FSD + Object-Centric Occupancy Completion Network | 82.8 | Not recorded | 68fa76141e209131cea6b4a7 | | MPPNet | 82.7 | Not recorded | 68fa76141e209131cea6b4a7 | | CenterPoint + Object-Centric Occupancy Completion Network | 81.8 | Not recorded | 68fa76141e209131cea6b4a7 | | MPPNet | 81.5 | Not recorded | 68fa76141e209131cea6b4a7 | | LidarAug | 81.4 | Not recorded | 68fa6fa21e209131cea46d29 | | FSD++ | 81.4 | Not recorded | 68fa76141e209131cea6b4a7 | | HEDNet | 81.1 | Not recorded | 68fa76141e209131cea6b4a7 | | SWFormer\* + MODAR | 81 | Not recorded | 68fa76141e209131cea6b4a7 | | FSD (re-impl) | 80.9 | Not recorded | 68fa76141e209131cea6b4a7 | | SWFormer\* + MODAR | 80.6 | Not recorded | 68fa76141e209131cea6b4a7 | | FSDv2 | 79.8 | Not recorded | 68fa76141e209131cea6b4a7 | | MVF++ | 79.7 | Not recorded | 68fa6fa21e209131cea46d29 | | MVF++ | 79.7 | Not recorded | 68fa76141e209131cea6b4a7 | | CenterFormer | 78.8 | Not recorded | 68fa76141e209131cea6b4a7 | | FSD (re-impl) | 78.7 | Not recorded | 68fa76141e209131cea6b4a7 | | SWFormer\* | 78.5 | Not recorded | 68fa76141e209131cea6b4a7 | | VoxelNeXt | 78.2 | Not recorded | 68fa76141e209131cea6b4a7 | | CenterFormer | 78.1 | Not recorded | 68fa76141e209131cea6b4a7 | | SWFormer\* | 77 | Not recorded | 68fa76141e209131cea6b4a7 | | CenterPoint\* + MODAR | 76.1 | Not recorded | 68fa76141e209131cea6b4a7 | | 3D-MAN | 74.5 | Not recorded | 68fa76141e209131cea6b4a7 | | CenterPoint (re-impl) | 73.2 | Not recorded | 68fa76141e209131cea6b4a7 | | CenterPoint\* | 72.9 | Not recorded | 68fa76141e209131cea6b4a7 | ### LidarAug + MoDAR Vehicle L1 3D AP: 86.3. Result ID: 6990e5a73a6c314849041d01. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Frame":"\[-91, 91\]","Offline Method?":true,"Implementation":"re-implementation"}. This record does not assert independent reproduction. ### MVF++ + 3DAL Vehicle L1 3D AP: 84.5. Result ID: 6990e5a73a6c314849041cff. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Frame":"\[-∞, ∞\]","Offline Method?":true}. This record does not assert independent reproduction. ### FSD + Object-Centric Occupancy Completion Network Vehicle L1 3D AP: 83.3. Result ID: 699424823a6c3148491b5ab6. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Frame Range":"\[-∞, 0\]","Note":"Entry based on \[-6, 0\] baseline"}. This record does not assert independent reproduction. ### FSDv2 + Object-Centric Occupancy Completion Network (no train) Vehicle L1 3D AP: 83.2. Result ID: 699424823a6c3148491b5ab8. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Frame Range":"\[-∞, 0\]"}. This record does not assert independent reproduction. ### FSD + Object-Centric Occupancy Completion Network Vehicle L1 3D AP: 82.8. Result ID: 699424823a6c3148491b5ab4. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Frame Range":"\[-∞, 0\]"}. This record does not assert independent reproduction. ### MPPNet Vehicle L1 3D AP: 82.7. Result ID: 699424823a6c3148491b5aa6. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Frame Range":"\[-15, 0\]"}. This record does not assert independent reproduction. ### CenterPoint + Object-Centric Occupancy Completion Network Vehicle L1 3D AP: 81.8. Result ID: 699424823a6c3148491b5aae. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Frame Range":"\[-∞, 0\]"}. This record does not assert independent reproduction. ### MPPNet Vehicle L1 3D AP: 81.5. Result ID: 699424823a6c3148491b5aa5. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Frame Range":"\[-3, 0\]"}. This record does not assert independent reproduction. ### LidarAug Vehicle L1 3D AP: 81.4. Result ID: 6990e5a73a6c314849041d00. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Frame":"\[-2, 0\]","Offline Method?":false,"Implementation":"re-implementation"}. This record does not assert independent reproduction. ### FSD++ Vehicle L1 3D AP: 81.4. Result ID: 699424823a6c3148491b5aa7. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Frame Range":"\[-6, 0\]"}. This record does not assert independent reproduction. ### HEDNet Vehicle L1 3D AP: 81.1. Result ID: 699424823a6c3148491b5aaa. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Frame Range":"\[0, 0\]"}. This record does not assert independent reproduction. ### SWFormer\* + MODAR Vehicle L1 3D AP: 81. Result ID: 699424823a6c3148491b5ab2. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Frame Range":"\[-91, 0\]","Source":"MoDAR","Note":"Entry based on \[-2, 0\] baseline"}. This record does not assert independent reproduction. ### FSD (re-impl) Vehicle L1 3D AP: 80.9. Result ID: 699424823a6c3148491b5ab5. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Frame Range":"\[-6, 0\]"}. This record does not assert independent reproduction. ### SWFormer\* + MODAR Vehicle L1 3D AP: 80.6. Result ID: 699424823a6c3148491b5ab0. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Frame Range":"\[-91, 0\]","Source":"MoDAR"}. This record does not assert independent reproduction. ### FSDv2 Vehicle L1 3D AP: 79.8. Result ID: 699424823a6c3148491b5ab7. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Frame Range":"\[0, 0\]"}. This record does not assert independent reproduction. ### MVF++ Vehicle L1 3D AP: 79.7. Result ID: 6990e5a73a6c314849041cfe. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Frame":"\[-4, 0\]","Offline Method?":false,"test-time-augmentation":"10x"}. This record does not assert independent reproduction. ### MVF++ Vehicle L1 3D AP: 79.7. Result ID: 699424823a6c3148491b5aa8. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Frame Range":"\[-4, 0\]"}. This record does not assert independent reproduction. ### CenterFormer Vehicle L1 3D AP: 78.8. Result ID: 699424823a6c3148491b5aa4. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Frame Range":"\[-7, 0\]"}. This record does not assert independent reproduction. ### FSD (re-impl) Vehicle L1 3D AP: 78.7. Result ID: 699424823a6c3148491b5ab3. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Frame Range":"\[0, 0\]"}. This record does not assert independent reproduction. ### SWFormer\* Vehicle L1 3D AP: 78.5. Result ID: 699424823a6c3148491b5ab1. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Frame Range":"\[-2, 0\]","Source":"MoDAR"}. This record does not assert independent reproduction. ### VoxelNeXt Vehicle L1 3D AP: 78.2. Result ID: 699424823a6c3148491b5aa9. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Frame Range":"\[0, 0\]"}. This record does not assert independent reproduction. ### CenterFormer Vehicle L1 3D AP: 78.1. Result ID: 699424823a6c3148491b5aa3. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Frame Range":"\[-3, 0\]"}. This record does not assert independent reproduction. ### SWFormer\* Vehicle L1 3D AP: 77. Result ID: 699424823a6c3148491b5aaf. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Frame Range":"\[0, 0\]","Source":"MoDAR"}. This record does not assert independent reproduction. ### CenterPoint\* + MODAR Vehicle L1 3D AP: 76.1. Result ID: 699424823a6c3148491b5aac. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Frame Range":"\[-91, 0\]","Source":"MoDAR"}. This record does not assert independent reproduction. ### 3D-MAN Vehicle L1 3D AP: 74.5. Result ID: 699424823a6c3148491b5aa2. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Frame Range":"\[-15, 0\]"}. This record does not assert independent reproduction. ### CenterPoint (re-impl) Vehicle L1 3D AP: 73.2. Result ID: 699424823a6c3148491b5aad. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Frame Range":"\[0, 0\]"}. This record does not assert independent reproduction. ### CenterPoint\* Vehicle L1 3D AP: 72.9. Result ID: 699424823a6c3148491b5aab. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Frame Range":"\[0, 0\]","Source":"MoDAR"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.