3D Object Detection (Pedestrian) on Waymo Open Dataset v1.2 (val)
89.54mAP L1DetZero (Full)
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| DetZero (Full)Frames=200, TTA/Ensemble=true2023.06 | 89.54 | 87.06 | 83.52 | 81.01 | |
| DetZero (Upstream)Frames=52023.06 | 86.17 | 83.07 | 79.39 | 76.34 | |
| MPPNetFrames=162023.06 | 84.69 | 82.25 | 77.43 | 75.06 | |
| 3DALFrames=200, TTA/Ensemble=true2023.06 | 82.88 | — | — | — | |
| CenterFormerFrames=82023.06 | 82.1 | 79.3 | 77.8 | 75 | |
| SSTTraining samples ratio=20%, IoU threshold=0.5, Training mode=Single-class2023.03 | 81.39 | 74.05 | 72.82 | 65.93 | |
| OcTrTraining samples ratio=20%, IoU threshold=0.5, Training mode=Multi-class2023.03 | 80.76 | 74.39 | 72.48 | 66.52 | |
| CenterPointFrames=12023.06 | 79 | 72.9 | 71 | 65.3 | |
| PV-RCNN++Training samples ratio=20%, IoU threshold=0.5, Training mode=Multi-class2023.03 | 77.99 | 71.36 | 69.92 | 63.74 | |
| PV-RCNNFrames=12023.06 | 75.01 | 65.65 | 66.04 | 57.61 | |
| PDVTraining samples ratio=20%, IoU threshold=0.5, Training mode=Multi-class2023.03 | 74.19 | 65.96 | 65.85 | 58.28 | |
| PDVFrames=12023.06 | 74.19 | 65.96 | 65.85 | 58.28 | |
| CenterPointTraining samples ratio=20%, IoU threshold=0.5, Training mode=Multi-class2023.03 | 72.09 | 65.49 | 64.27 | 58.23 | |
| PV-RCNNTraining samples ratio=20%, IoU threshold=0.5, Training mode=Multi-class2023.03 | 71.98 | 61.24 | 63.7 | 53.95 | |
| PartA2NetTraining samples ratio=20%, IoU threshold=0.5, Training mode=Multi-class2023.03 | 71.76 | 63.64 | 62.53 | 55.3 | |
| LiDAR-RCNNTraining samples ratio=20%, IoU threshold=0.5, Training mode=Multi-class2023.03 | 71.2 | 58.7 | 63.1 | 51.7 | |
| 3D-MANFrames=162023.06 | 71.1 | 67.7 | 62.6 | 59 | |
| PointPillarTraining samples ratio=20%, IoU threshold=0.5, Training mode=Multi-class2023.03 | 66.21 | 46.32 | 58.18 | 40.64 | |
| MVFFrames=12023.06 | 65.33 | — | — | — | |
| SECONDTraining samples ratio=20%, IoU threshold=0.5, Training mode=Multi-class2023.03 | 65.23 | 54.24 | 57.22 | 47.49 | |
| INTFrames=22023.06 | — | — | — | 71.9 |