3D Object Detection on Waymo (val)
70.9Vehicle L2 APPillarNet-34
Evaluation results
| Method | Links | ||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| PillarNet-342023.03 | 70.9 | 71 | 68.5 | 79.1 | 78.6 | 70.5 | 80.6 | 74 | 72.3 | 66.2 | 72.3 | 71.2 | 69.7 | 68.7 | — | — | — | — | — | — | — | — | — | — | |
| PV-RCNN++2023.03 | 70.3 | 68.4 | 64.9 | 78.8 | 78.2 | 69.7 | 76.7 | 67.2 | 68.5 | 59.7 | 69 | 67.6 | 66.5 | 65.2 | — | — | — | — | — | — | — | — | — | — | |
| VoxelNeXtKernel=3x32023.03 | 69.9 | 72.2 | 70.1 | 78.2 | 77.7 | 69.4 | 81.5 | 76.3 | 73.5 | 68.6 | 76.1 | 74.9 | 73.3 | 72.2 | — | — | — | — | — | — | — | — | — | — | |
| AFDetV22023.03 | 69.7 | 71 | 68.8 | 77.6 | 77.1 | 69.2 | 80.2 | 74.6 | 72.2 | 67 | 73.7 | 72.7 | 71 | 70.1 | — | — | — | — | — | — | — | — | — | — | |
| VoxelNeXtKernel=2D2023.03 | 69.7 | 70.9 | 68.2 | 77.9 | 77.5 | 69.2 | 80.2 | 73.5 | 72.2 | 65.9 | 73.3 | 72.2 | 70.7 | 69.6 | — | — | — | — | — | — | — | — | — | — | |
| SWFormer2023.03 | 69.2 | — | — | 77.8 | 77.3 | 68.8 | 80.9 | 72.7 | 72.5 | 64.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PV-RCNN2023.03 | 69 | 66.8 | 63.3 | 77.5 | 76.9 | 68.4 | 75 | 65.6 | 66 | 57.6 | 67.8 | 66.4 | 65.4 | 64 | — | — | — | — | — | — | — | — | — | — | |
| CenterPoint2023.03 | 68.9 | 69.8 | 67.6 | 76.6 | 76 | 68.4 | 79 | 73.4 | 71 | 65.8 | 72.1 | 71 | 69.5 | 68.5 | — | — | — | — | — | — | — | — | — | — | |
| FSDlibrary=spconv2023.03 | 68.9 | 71.9 | 69.7 | 77.8 | 77.3 | 68.5 | 81.9 | 76.4 | 73.2 | 68 | 76.5 | 75.2 | 73.8 | 72.5 | — | — | — | — | — | — | — | — | — | — | |
| Part-A2-Net2023.03 | 68.5 | 66.9 | 63.8 | 77.1 | 76.5 | 68 | 75.2 | 66.9 | 66.2 | 58.6 | 68.6 | 67.4 | 66.1 | 64.9 | — | — | — | — | — | — | — | — | — | — | |
| LIDAR-RCNN2023.03 | 68.3 | 65.8 | 61.3 | 76 | 75.5 | 67.9 | 71.2 | 58.7 | 63.1 | 51.7 | 68.6 | 66.9 | 66.1 | 64.4 | — | — | — | — | — | — | — | — | — | — | |
| VoxSeT2023.03 | 68.2 | — | — | 76 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3D-MAN2023.03 | 67.6 | — | — | 74.5 | 74 | 67.1 | 71.7 | 67.7 | 62.6 | 59 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| M3METR2023.03 | 66 | 61.8 | 58.7 | 75.7 | 75.1 | 66 | 65 | 56.4 | 56 | 48.4 | 65.4 | 64.2 | 62.7 | 61.5 | — | — | — | — | — | — | — | — | — | — | |
| VoTr-TSD2023.03 | 65.9 | — | — | 74.9 | 74.3 | 65.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Teacher2022.05 | 65.61 | — | — | 73.72 | 73.17 | 65.11 | 72.43 | 61.72 | 64.73 | 54.99 | 64.3 | 62.61 | 61.91 | 60.28 | — | — | — | — | — | — | — | — | — | — | |
| SST2023.03 | 65.5 | 67.8 | 64.6 | 74.2 | 73.8 | 65.1 | 78.7 | 69.6 | 70 | 61.7 | 70.7 | 69.6 | 68 | 66.9 | — | — | — | — | — | — | — | — | — | — | |
| RangeDet2023.03 | 64 | 65 | 63.2 | 72.9 | 72.3 | 63.6 | 75.9 | 71.9 | 67.6 | 63.9 | 65.7 | 64.4 | 63.3 | 62.1 | — | — | — | — | — | — | — | — | — | — | |
| SECOND2023.03 | 63.9 | 61 | 57.2 | 72.3 | 71.7 | 63.3 | 68.7 | 58.2 | 60.7 | 51.3 | 60.6 | 59.3 | 58.3 | 57 | — | — | — | — | — | — | — | — | — | — | |
| PointPillars2023.03 | 63.6 | 62.8 | 57.8 | 72.1 | 71.5 | 63.1 | 70.6 | 56.7 | 62.8 | 50.3 | 64.4 | 62.3 | 61.9 | 59.9 | — | — | — | — | — | — | — | — | — | — | |
| IA-SSD2023.03 | 61.6 | 62.3 | 58.1 | 70.5 | 69.7 | 61 | 69.4 | 58.5 | 60.3 | 50.7 | 67.7 | 65.3 | 65 | 62.7 | — | — | — | — | — | — | — | — | — | — | |
| itKD2022.05 | 59.44 | — | — | 67.43 | 66.72 | 58.81 | 67.26 | 56.02 | 59.73 | 49.61 | 56.09 | 54.24 | 53.96 | 52.19 | — | — | — | — | — | — | — | — | — | — | |
| Obj. DGCNN2022.05 | 59.27 | — | — | 66.07 | 65.38 | 58.55 | 65.98 | 54.44 | 59.42 | 49.11 | 54.65 | 52.62 | 53.13 | 50.93 | — | — | — | — | — | — | — | — | — | — | |
| MV-JARData amount=10%, Fine-tuning=averaged across Subset 0-22023.03 | 58.84 | 58.12 | 54.72 | — | — | 58.41 | — | — | 63.77 | 55.03 | — | — | 51.74 | 50.73 | — | — | — | — | — | — | — | — | — | — | |
| EOD-KD2022.05 | 58.56 | — | — | 66.5 | 65.79 | 57.92 | 65.99 | 54.58 | 58.48 | 48.25 | 55.18 | 52.93 | 53.1 | 50.94 | — | — | — | — | — | — | — | — | — | — | |
| SE-SSD2022.05 | 58.05 | — | — | 65.95 | 65.22 | 57.4 | 65.39 | 53.98 | 57.92 | 47.69 | 55.01 | 52.98 | 52.94 | 50.99 | — | — | — | — | — | — | — | — | — | — | |
| FitNet2022.05 | 57.24 | — | — | 65.11 | 64.38 | 56.58 | 64.89 | 53.29 | 57.37 | 47 | 54.91 | 52.61 | 52.84 | 50.63 | — | — | — | — | — | — | — | — | — | — | |
| SparseKD2022.05 | 56.97 | — | — | 65.25 | 64.59 | 56.38 | 67.44 | 54.54 | 59.24 | 47.83 | 55.54 | 53.45 | 53.63 | 51.61 | — | — | — | — | — | — | — | — | — | — | |
| Baseline2022.05 | 56.92 | — | — | 64.78 | 64.05 | 56.26 | 64.85 | 52.98 | 57.37 | 46.75 | 54.71 | 52.46 | 52.65 | 50.48 | — | — | — | — | — | — | — | — | — | — | |
| MV-JARData amount=5%, Fine-tuning=averaged across Subset 0-22023.03 | 56.45 | 50.39 | 46.72 | — | — | 56 | — | — | 57.99 | 48.36 | — | — | 36.74 | 35.81 | — | — | — | — | — | — | — | — | — | — | |
| Studentmodel size=1/42022.05 | 56.21 | — | — | 64.22 | 63.56 | 55.62 | 63.72 | 53.22 | 56.14 | 46.78 | 53.01 | 51.72 | 50.99 | 49.75 | — | — | — | — | — | — | — | — | — | — | |
| TOFD2022.05 | 56.13 | — | — | 64.09 | 63.43 | 55.55 | 66.24 | 54.98 | 58.5 | 48.45 | 54.95 | 53.06 | 52.86 | 51.04 | — | — | — | — | — | — | — | — | — | — | |
| ProposalContrastData amount=10%, Fine-tuning=averaged across Subset 0-22023.03 | 55.47 | 54.75 | 50.96 | — | — | 55.01 | — | — | 60.19 | 50.51 | — | — | 48.6 | 47.37 | — | — | — | — | — | — | — | — | — | — | |
| PointContrastData amount=10%, Fine-tuning=averaged across Subset 0-22023.03 | 55.26 | 54.57 | 50.75 | — | — | 54.8 | — | — | 59.85 | 50.05 | — | — | 48.61 | 47.41 | — | — | — | — | — | — | — | — | — | — | |
| RandomData amount=10%, Fine-tuning=averaged across Subset 0-22023.03 | 55.01 | 55.04 | 51.28 | — | — | 54.55 | — | — | 61.09 | 51.44 | — | — | 49.02 | 47.84 | — | — | — | — | — | — | — | — | — | — | |
| ProposalContrastData amount=5%, Fine-tuning=averaged across Subset 0-22023.03 | 52.58 | 47.23 | 43.28 | — | — | 52.1 | — | — | 54.61 | 44.37 | — | — | 34.5 | 33.38 | — | — | — | — | — | — | — | — | — | — | |
| PointContrastData amount=5%, Fine-tuning=averaged across Subset 0-22023.03 | 52.11 | 46.26 | 42.25 | — | — | 51.61 | — | — | 53.84 | 43.4 | — | — | 32.82 | 31.74 | — | — | — | — | — | — | — | — | — | — | |
| RandomData amount=5%, Fine-tuning=averaged across Subset 0-22023.03 | 50.45 | 44.91 | 40.96 | — | — | 49.94 | — | — | 52.77 | 42.53 | — | — | 31.52 | 30.4 | — | — | — | — | — | — | — | — | — | — | |
| 3D-VFieldArchitecture=PointPillars2021.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 44.61 | — | — | — | — | — | — | — | — | |
| 3D-VFieldArchitecture=Second2021.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 43.51 | — | — | — | — | — | — | — | — | |
| 3D-VFieldArchitecture=Part-A22021.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 56.08 | — | — | — | — | — | — | — | — | |
| 3D-VField + SNArchitecture=PointPillars, Domain Adaptation=SN [39]2021.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 51.32 | — | — | — | — | — | — | — | — | |
| advers. gener.Architecture=PointPillars2021.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 40.55 | — | — | — | — | — | — | — | — | |
| advers. remov.Architecture=PointPillars2021.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 40.32 | — | — | — | — | — | — | — | — | |
| BEVFormer++Backbone=ResNet101-DCN2023.03 | — | 52.2 | 48.1 | — | — | — | — | — | — | — | — | — | — | — | 36.1 | — | — | — | — | — | — | — | — | — | |
| Centerpoint-PillarLatency=35ms2023.01 | — | 66 | 62.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Centerpoint-VoxelLatency=40ms2023.01 | — | 68.2 | 65.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Chamfer att.Architecture=PointPillars2021.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 40.54 | — | — | — | — | — | — | — | — | |
| DSVT-PLatency=67ms, Representation=Pillar2023.01 | — | 73.2 | 71 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DSVT-PLatency=37ms, Representation=Pillar, Deployment=TensorRT2023.01 | — | 73.2 | 71 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DSVT-VLatency=97ms, Representation=Voxel2023.01 | — | 74 | 72.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| iter. grad. L2Architecture=PointPillars2021.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 39.86 | — | — | — | — | — | — | — | — | |
| MV-FCOS3D++Backbone=ResNet101-DCN2023.03 | — | 52.2 | 48.4 | — | — | — | — | — | — | — | — | — | — | — | 37.9 | — | — | — | — | — | — | — | — | — | |
| no augm.Architecture=PointPillars2021.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 30.68 | — | — | — | — | — | — | — | — | |
| no obj. sampl.Architecture=PointPillars2021.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 37.85 | — | — | — | — | — | — | — | — | |
| Part-A2Architecture=Part-A22021.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 49.76 | — | — | — | — | — | — | — | — | |
| PatchNetDifficulty=LEVEL_1, Threshold=IoU=0.72021.08 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1.67 | 1.63 | 0.13 | 0.12 | 0.03 | 0.03 | 0.39 | 0.37 | |
| PatchNetDifficulty=LEVEL_1, Threshold=IoU=0.52021.08 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 10.03 | 9.75 | 1.09 | 0.96 | 0.23 | 0.18 | 2.92 | 2.74 | |
| PatchNetDifficulty=LEVEL_2, Threshold=IoU=0.72021.08 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1.67 | 1.63 | 0.13 | 0.11 | 0.03 | 0.03 | 0.38 | 0.36 | |
| PatchNetDifficulty=LEVEL_2, Threshold=IoU=0.52021.08 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 10.01 | 9.73 | 1.07 | 0.94 | 0.22 | 0.16 | 2.42 | 2.28 | |
| PCTDifficulty=LEVEL_1, Threshold=IoU=0.72021.08 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 3.18 | 3.15 | 0.27 | 0.27 | 0.07 | 0.07 | 0.89 | 0.88 | |
| PCTDifficulty=LEVEL_1, Threshold=IoU=0.52021.08 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 14.7 | 14.54 | 1.78 | 1.75 | 0.39 | 0.39 | 4.2 | 4.15 | |
| PCTDifficulty=LEVEL_2, Threshold=IoU=0.72021.08 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 3.18 | 3.15 | 0.27 | 0.26 | 0.07 | 0.07 | 0.66 | 0.66 | |
| PCTDifficulty=LEVEL_2, Threshold=IoU=0.52021.08 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 14.67 | 14.51 | 1.74 | 1.71 | 0.36 | 0.35 | 4.03 | 3.99 | |
| PETR-DNBackbone=ResNet1012023.03 | — | 50.2 | 46.2 | — | — | — | — | — | — | — | — | — | — | — | 35.8 | — | — | — | — | — | — | — | — | — | |
| PETRv2Backbone=ResNet1012023.03 | — | 51.9 | 47.9 | — | — | — | — | — | — | — | — | — | — | — | 36.6 | — | — | — | — | — | — | — | — | — | |
| Pillar-OD2023.03 | — | — | — | 69.8 | — | — | 72.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointPillarsArchitecture=PointPillars2021.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 40.86 | — | — | — | — | — | — | — | — | |
| PV-RCNN++(center)Latency=113ms2023.01 | — | 71.7 | 69.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SecondArchitecture=Second2021.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 42.45 | — | — | — | — | — | — | — | — | |
| SN dom. adapt.Architecture=PointPillars, Method Citation=[39]2021.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 49.27 | — | — | — | — | — | — | — | — | |
| StreamPETRBackbone=ResNet101, Saving interval=52023.03 | — | 55.3 | 51.7 | — | — | — | — | — | — | — | — | — | — | — | 39.9 | — | — | — | — | — | — | — | — | — | |
| StreamPETRBackbone=ResNet101, Saving interval=12023.03 | — | 55.1 | 51.8 | — | — | — | — | — | — | — | — | — | — | — | 39.5 | — | — | — | — | — | — | — | — | — |