# 3D Object Detection on Waymo Vehicle, Level 1 (val) Source: [3D Object Detection on Waymo Vehicle, Level 1 (val)]() Collection index: [llms.txt]() Data updated: 2026-02-27T11:27:58.545Z Evaluation of 3D Object Detection performance on the validation split of the Waymo Vehicle Level 1 difficulty subset, reporting distance-binned Average Precision (AP3D) and Average Precision Hitting Plane (APH3D). 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 Vehicle, Level 1 (val) | | Metric | AP3D (All) | | Unit | PERCENT | | Direction | Higher is better | | Results loaded | 16 of 16 | | 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 - [AP3D (All)](): Higher is better; unit: PERCENT. - [AP3D (0-30m)](): Higher is better; unit: PERCENT. - [AP3D (30-50m)](): Higher is better; unit: PERCENT. - [AP3D (50m-∞)](): Higher is better; unit: PERCENT. - [APH3D (All)](): Higher is better; unit: PERCENT. - [APH3D (0-30m)](): Higher is better; unit: PERCENT. - [APH3D (30-50m)](): Higher is better; unit: PERCENT. - [APH3D (50m-∞)](): Higher is better; unit: PERCENT. ## Recorded results | Method | AP3D (All) | Result date | Report paper | | --- | --- | --- | --- | | Mono3DV | 13.53 | Not recorded | 695c96f753fdd5c3617435fa | | MonoDGP | 12.36 | Not recorded | 695c96f753fdd5c3617435fa | | DEVIANT | 10.98 | Not recorded | 695c96f753fdd5c3617435fa | | MonoUNI | 10.98 | Not recorded | 695c96f753fdd5c3617435fa | | GUPNet | 10.02 | Not recorded | 695c96f753fdd5c3617435fa | | Mono3DV | 4.84 | Not recorded | 695c96f753fdd5c3617435fa | | MonoDGP | 4.28 | Not recorded | 695c96f753fdd5c3617435fa | | PCT | 4.2 | Not recorded | 695c96f753fdd5c3617435fa | | M3D-RPN | 3.79 | Not recorded | 695c96f753fdd5c3617435fa | | MonoUNI | 3.2 | Not recorded | 695c96f753fdd5c3617435fa | | PatchNet | 2.92 | Not recorded | 695c96f753fdd5c3617435fa | | DEVIANT | 2.69 | Not recorded | 695c96f753fdd5c3617435fa | | GUPNet | 2.28 | Not recorded | 695c96f753fdd5c3617435fa | | PCT | 0.89 | Not recorded | 695c96f753fdd5c3617435fa | | PatchNet | 0.39 | Not recorded | 695c96f753fdd5c3617435fa | | M3D-RPN | 0.35 | Not recorded | 695c96f753fdd5c3617435fa | ### Mono3DV AP3D (All): 13.53. Result ID: 69a17fb235dfcabb00e7728a. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"IoU Threshold":"0.5","Extra":"None"}. This record does not assert independent reproduction. ### MonoDGP AP3D (All): 12.36. Result ID: 69a17fb235dfcabb00e77289. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"IoU Threshold":"0.5","Extra":"None"}. This record does not assert independent reproduction. ### DEVIANT AP3D (All): 10.98. Result ID: 69a17fb235dfcabb00e77287. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"IoU Threshold":"0.5","Extra":"None"}. This record does not assert independent reproduction. ### MonoUNI AP3D (All): 10.98. Result ID: 69a17fb235dfcabb00e77288. [Reporting paper]() Recorded evaluation configuration: {"IoU Threshold":"0.5","Extra":"None"}. This record does not assert independent reproduction. ### GUPNet AP3D (All): 10.02. Result ID: 69a17fb235dfcabb00e77286. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"IoU Threshold":"0.5","Extra":"None"}. This record does not assert independent reproduction. ### Mono3DV AP3D (All): 4.84. Result ID: 69a17fb235dfcabb00e77282. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"IoU Threshold":"0.7","Extra":"None"}. This record does not assert independent reproduction. ### MonoDGP AP3D (All): 4.28. Result ID: 69a17fb235dfcabb00e77281. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"IoU Threshold":"0.7","Extra":"None"}. This record does not assert independent reproduction. ### PCT AP3D (All): 4.2. Result ID: 69a17fb235dfcabb00e77284. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"IoU Threshold":"0.5","Extra":"Depth"}. This record does not assert independent reproduction. ### M3D-RPN AP3D (All): 3.79. Result ID: 69a17fb235dfcabb00e77285. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"IoU Threshold":"0.5","Extra":"None"}. This record does not assert independent reproduction. ### MonoUNI AP3D (All): 3.2. Result ID: 69a17fb235dfcabb00e77280. [Reporting paper]() Recorded evaluation configuration: {"IoU Threshold":"0.7","Extra":"None"}. This record does not assert independent reproduction. ### PatchNet AP3D (All): 2.92. Result ID: 69a17fb235dfcabb00e77283. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"IoU Threshold":"0.5","Extra":"Depth"}. This record does not assert independent reproduction. ### DEVIANT AP3D (All): 2.69. Result ID: 69a17fb235dfcabb00e7727f. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"IoU Threshold":"0.7","Extra":"None"}. This record does not assert independent reproduction. ### GUPNet AP3D (All): 2.28. Result ID: 69a17fb235dfcabb00e7727e. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"IoU Threshold":"0.7","Extra":"None"}. This record does not assert independent reproduction. ### PCT AP3D (All): 0.89. Result ID: 69a17fb235dfcabb00e7727c. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"IoU Threshold":"0.7","Extra":"Depth"}. This record does not assert independent reproduction. ### PatchNet AP3D (All): 0.39. Result ID: 69a17fb235dfcabb00e7727b. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"IoU Threshold":"0.7","Extra":"Depth"}. This record does not assert independent reproduction. ### M3D-RPN AP3D (All): 0.35. Result ID: 69a17fb235dfcabb00e7727d. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"IoU Threshold":"0.7","Extra":"None"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.