3D Object Detection on Waymo to KITTI (val)
95.54AP BEVOracle
Evaluation results
| Method | Links | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| OracleBackbone=Voxel R-CNN, Annotation Budget=100%2023.03 | 95.54 | 95.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Bi3D (w/ SN)Backbone=Voxel R-CNN, Annotation Budget=1%2023.03 | 94.31 | 94.16 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Bi3D (w/ SN)Backbone=Voxel R-CNN, Annotation Budget=5%2023.03 | 94.27 | 94.17 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OracleBackbone=PV-RCNN, Annotation Budget=100%2023.03 | 94.08 | 92.28 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Bi3DBackbone=PV-RCNN, Annotation Budget=1%2023.03 | 93.88 | 92.18 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Bi3D (w/ SN)Backbone=PV-RCNN, Annotation Budget=5%2023.03 | 93.31 | 93.26 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Bi3DBackbone=Voxel R-CNN, Annotation Budget=1%2023.03 | 92.76 | 92.08 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Bi3D (w/ SN)Backbone=PV-RCNN, Annotation Budget=1%2023.03 | 92.48 | 92.31 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ST3DBackbone=PV-RCNN, Annotation Budget=1%2023.03 | 92.4 | 92.18 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ST3DBackbone=Voxel R-CNN, Annotation Budget=1%2023.03 | 92.34 | 84.92 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ST3D (w/ SN)Backbone=PV-RCNN, Annotation Budget=1%2023.03 | 91.49 | 90.77 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CLUE (w/ SN)Backbone=PV-RCNN, Annotation Budget=1%2023.03 | 90.42 | 88.87 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Source OnlyBackbone=Voxel R-CNN, Annotation Budget=0%2023.03 | 89.49 | 87.41 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Source OnlyBackbone=PV-RCNN, Annotation Budget=0%2023.03 | 88.33 | 87.17 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| TQS (w/ SN)Backbone=PV-RCNN, Annotation Budget=1%2023.03 | 88.17 | 89.87 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CLUE (w/ SN)Backbone=Voxel R-CNN, Annotation Budget=1%2023.03 | 88.13 | 88 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ST3D (w/ SN)Backbone=Voxel R-CNN, Annotation Budget=1%2023.03 | 86.76 | 86.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SNBackbone=PV-RCNN, Annotation Budget=1%2023.03 | 86.32 | 85.72 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| TQS (w/ SN)Backbone=Voxel R-CNN, Annotation Budget=1%2023.03 | 84.77 | 83 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SNBackbone=Voxel R-CNN, Annotation Budget=1%2023.03 | 82 | 81.57 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DTSBackbone=PVRCNN2024.04 | — | — | 69.38 | 20.32 | 47.06 | 41.06 | 46.11 | 19.77 | 42.27 | 26.92 | 49.75 | 5.7 | 45.7 | 1.98 | 55.08 | 45.01 | |
| DTSBackbone=SECOND2024.04 | — | — | 64.38 | 49.63 | 39.46 | 35.8 | 41.94 | 13.25 | 34.93 | 0.4 | 43.9 | 3.69 | 41.76 | 5.92 | 50.07 | 38.72 | |
| PEREBackbone=PVRCNN2024.04 | — | — | 74.62 | 43.12 | 54.17 | 53.65 | 51.26 | 62.9 | 46.91 | 60.86 | 60.47 | 57.54 | 56.82 | 59.86 | 62.12 | 52.63 | |
| PEREBackbone=SECOND2024.04 | — | — | 71.02 | 67.93 | 49.52 | 53.5 | 43.86 | 51.81 | 36.67 | 35.63 | 48.22 | 33.75 | 43.7 | 22.36 | 54.37 | 43.3 | |
| Source OnlyBackbone=PVRCNN2024.04 | — | — | 64.71 | — | 23.86 | — | 43.75 | — | 38.59 | — | 48.57 | — | 45.32 | — | 52.34 | 35.92 | |
| Source OnlyBackbone=SECOND2024.04 | — | — | 46.38 | — | 19.12 | — | 41.28 | — | 34.91 | — | 43.37 | — | 41.06 | — | 43.68 | 31.7 | |
| ST3DBackbone=PVRCNN2024.04 | — | — | 70.88 | 26.85 | 46.79 | 40.58 | 48.57 | 40.37 | 42.38 | 27.72 | 54.93 | 30.75 | 51.17 | 30.45 | 58.12 | 46.78 | |
| ST3DBackbone=SECOND2024.04 | — | — | 66.83 | 56.38 | 42.67 | 41.45 | 43.02 | 34.94 | 35.79 | 17.81 | 45.59 | 15.45 | 42.7 | 13.87 | 51.81 | 40.39 | |
| ST3D++Backbone=PVRCNN2024.04 | — | — | 71.65 | 30.2 | 50.23 | 46.67 | 50.94 | 60.22 | 47.23 | 63.2 | 56.23 | 37.04 | 50.78 | 28.42 | 59.61 | 49.41 | |
| ST3D++Backbone=SECOND2024.04 | — | — | 69.28 | 63.14 | 46.4 | 48.01 | 42.67 | 42.35 | 35.31 | 8.1 | 44.86 | 10.36 | 43.04 | 16.75 | 52.16 | 41.58 |