3D Object Detection on Waymo Open single-frame (val) benchmark leaderboard · SOTA2 Research

3D Object Detection on Waymo Open single-frame (val)

73.2Vehicle AP (L2)HEDNet

Evaluation Results

Method	Links
HEDNet2025.03		73.2	81.1	80.6	72.7	84.4	80	76.8	72.6	78.7	77.7	75.8	74.9	75.3	73.4
VoxelMamba2025.03		72.6	80.8	80.3	72.2	85	80.8	77.7	73.6	78.6	77.6	75.7	74.8	75.33	73.53
UniMamba2025.03		72.28	80.6	80.06	71.77	85.99	81.25	78.66	74.07	80.33	79.3	77.46	76.48	76.13	74.11
LION-Mamba-L2025.03		72	80.3	79.9	71.6	85.8	81.4	78.5	74.3	80.1	79	77.2	76.2	75.9	74
SEED-B2025.03		71.8	79.7	79.2	71.4	83.1	78.3	75.5	70.8	80	78.8	77.3	76.1	74.87	72.77
DSVT-V2025.03		71.4	79.7	79.3	71	83.7	78.9	76.1	71.5	77.5	76.5	74.6	73.7	74	72.1
PillarNet2025.03		70.92	79.09	78.59	70.46	80.59	74.01	72.28	66.17	72.29	71.21	69.72	68.67	70.97	68.43
OcTr2025.03		70.8	79.2	78.7	70.4	82.2	76.3	74	68.5	73.9	72.8	71.1	69.2	71.97	69.37
PV_RCNN++2025.03		70.61	79.25	78.78	70.18	81.83	76.28	73.17	68	73.72	72.66	71.21	70.19	71.66	69.46
MsSVT++2025.03		70.57	78.96	78.39	70.01	80.64	73.78	73.12	66.8	75.98	74.73	72.97	71.82	72.22	69.54
AFDetV22025.03		69.68	77.64	77.14	69.22	80.19	72.62	72.16	66.95	73.72	72.74	71.06	70.12	70.97	68.76
FlatFormer2025.03		69	—	—	68.6	—	—	71.5	65.3	—	—	68.6	67.5	69.7	67.13
SST2025.03		66.61	75.13	74.64	66.17	80.07	72.12	72.38	65.01	71.49	70.2	68.85	67.61	69.28	66.26
CenterPoint2025.03		66.2	74.2	73.6	65.7	76.6	70.5	68.8	63.2	72.3	71.1	69.7	68.5	68.2	65.8
Voxset2025.03		66	74.5	74	65.6	80	72.4	72.5	65.4	71.6	70.3	69	67.7	69.17	66.23
SECOND2025.03		62.58	70.96	70.34	62.02	65.23	54.24	57.22	47.49	57.13	55.62	54.97	53.53	58.26	54.35
PointPillar2025.03		62.18	70.43	69.83	61.64	66.21	46.32	58.18	40.64	55.26	51.75	53.18	49.8	57.85	50.69