3D Object Detection on Waymo to nuScenes (val)
52.99APBEVBi3D
Evaluation results
| Method | Links | ||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Bi3DBackbone=PV-RCNN, Annotation Budget=1%2023.03 | 52.99 | 49.17 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Bi3D (w/ SN)Backbone=Voxel R-CNN, Annotation Budget=1%2023.03 | 52.73 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Bi3DDetector=SECOND-IoU, Target Sample Budget=1%2023.03 | 42.15 | 26.24 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Lidar DistillDetector=SECOND-IoU2023.03 | 40.66 | 22.86 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ST3DDetector=SECOND-IoU2023.03 | 35.92 | 20.19 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SNDetector=SECOND-IoU2023.03 | 33.23 | 18.57 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Source OnlyDetector=SECOND-IoU, Domain Adaptation=None2023.03 | 32.91 | 17.24 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PEREBackbone=PVRCNN2024.04 | 20.01 | 14.36 | 35.21 | 9.33 | 22.83 | 17.61 | 16.18 | 22.86 | 13.78 | 36.39 | 8.63 | 38.65 | 6.47 | 35.97 | — | — | — | — | — | — | |
| PEREBackbone=SECOND2024.04 | 19.57 | 13.69 | 34.48 | 28.76 | 23.76 | 38.53 | 15.45 | 48.15 | 11.47 | 42.28 | 8.79 | 46.45 | 5.84 | 34.35 | — | — | — | — | — | — | |
| ST3DBackbone=PVRCNN2024.04 | 18.95 | 13.15 | 34.79 | 6.98 | 21.62 | 10.43 | 15.89 | 20.91 | 13.93 | 37.65 | 6.17 | 22.7 | 3.9 | 15.01 | — | — | — | — | — | — | |
| DTSBackbone=PVRCNN2024.04 | 18.62 | 12.59 | 34.55 | 5.65 | 20.64 | 4.63 | 14.73 | 13.11 | 13.03 | 30.08 | 6.59 | 25.42 | 4.11 | 16.72 | — | — | — | — | — | — | |
| LDBackbone=PVRCNN2024.04 | 18.37 | 12.47 | 33.87 | 1.84 | 20.12 | 1.54 | 15.2 | 16.27 | 13.47 | 33.78 | 6.05 | 21.92 | 3.83 | 14.44 | — | — | — | — | — | — | |
| ST3D++Backbone=PVRCNN2024.04 | 18.15 | 12.42 | 33.46 | -0.45 | 20.57 | 4.21 | 14.76 | 13.31 | 12.41 | 24.85 | 6.23 | 23.09 | 4.29 | 18.19 | — | — | — | — | — | — | |
| ST3DBackbone=SECOND2024.04 | 17.64 | 11.88 | 32.07 | 16.71 | 22.49 | 31.95 | 13.45 | 34.45 | 8.92 | 24.78 | 7.4 | 35.13 | 4.22 | 17.33 | — | — | — | — | — | — | |
| ST3D++Backbone=SECOND2024.04 | 17.28 | 11.66 | 31.8 | 15.36 | 21.32 | 25.89 | 12.78 | 29.86 | 9.31 | 27.45 | 7.27 | 34.07 | 4.36 | 18.8 | — | — | — | — | — | — | |
| LDBackbone=SECOND2024.04 | 16.9 | 11.46 | 30.95 | 11.1 | 22.03 | 29.57 | 12.55 | 28.29 | 8.34 | 20.8 | 7.19 | 33.41 | 4.01 | 15.13 | — | — | — | — | — | — | |
| Source OnlyBackbone=PVRCNN2024.04 | 16.33 | 10.46 | 33.54 | — | 19.86 | — | 12.78 | — | 9.46 | — | 2.67 | — | 2.06 | — | — | — | — | — | — | — | |
| DTSBackbone=SECOND2024.04 | 16.03 | 11.26 | 29.85 | 5.6 | 21.39 | 26.26 | 11.4 | 20.41 | 8.71 | 23.34 | 6.85 | 30.64 | 3.68 | 11.65 | — | — | — | — | — | — | |
| Source OnlyBackbone=SECOND2024.04 | 13.41 | 8.07 | 28.73 | — | 16.32 | — | 8.42 | — | 5.31 | — | 3.09 | — | 2.57 | — | — | — | — | — | — | — | |
| 10 f. + const LRTarget Frames=10, Learning Rate=constant2025.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 53.57 | 44.56 | |
| 10 f. + L2-SPTarget Frames=10, Regularization=L2-SP2025.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 56.14 | 47.13 | |
| 10 f. + LR fadingTarget Frames=10, Learning Rate=fading2025.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 44.01 | 35 | |
| Bi3DNumber of frames=2812025.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 30.81 | 11.65 | |
| CMT2025.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 26.38 | 7.22 | |
| DG-BEVBranch=DG2024.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 66 | 56.8 | 47.2 | 30.3 | — | — | |
| Direct TransferBranch=—2024.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 64.9 | 55.2 | 13.3 | 3.2 | — | — | |
| Diverse Frame Selection AlgorithmNumber of frames=10, Learning rate strategy=constant2025.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 29.57 | 10.41 | |
| Diverse Frame Selection AlgorithmNumber of frames=100, Learning rate strategy=constant2025.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 32.14 | 12.98 | |
| Diverse Frame Selection AlgorithmNumber of frames=281, Learning rate strategy=constant2025.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 33.41 | 14.25 | |
| OracleBranch=—2024.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 17.8 | 4 | 58.7 | 47.5 | — | — | |
| OursBranch=DG2024.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 65.6 | 54.7 | 47.7 | 32.6 | — | — | |
| Ours (1%)Branch=UDGA, Target Label Ratio=1%2024.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 65.6 | 54.7 | 53.4 | 40.9 | — | — | |
| Ours (5%)Branch=UDGA, Target Label Ratio=5%2024.10 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 65.6 | 54.7 | 57.1 | 44.8 | — | — | |
| SEE2025.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 14.72 | 5.71 | |
| Source onlyAdaptation Protocol=Source only baseline2025.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 19.16 | — | |
| Source onlyadaptation_type=Baseline2025.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 9.01 | — | |
| SSDA3DNumber of frames=2812025.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 33.01 | 13.85 | |
| ST3D2025.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 22.99 | 3.83 | |
| Stat-Norm2025.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 22.29 | 3.13 | |
| Target domainAdaptation Protocol=Target domain baseline2025.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 35.51 | — | |
| Target domainadaptation_type=Oracle/Upper Bound2025.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 70.56 | — | |
| TODANumber of frames=2812025.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 32.18 | 13.02 |