3D Object Detection (Vehicle) on Waymo Open Dataset LEVEL_1 (val)
77.323D AP OverallGLENet-VR
Evaluation results
| Method | Links | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| GLENet-VR2022.07 | 77.32 | 92.97 | 76.28 | 55.98 | 76.85 | — | — | — | — | — | — | — | — | — | — | — | |
| GLENet-CP2022.07 | 76.73 | 92.7 | 75.7 | 55.77 | 76.27 | — | — | — | — | — | — | — | — | — | — | — | |
| Pyramid-PV2022.07 | 76.3 | 92.67 | 74.91 | 54.54 | 75.68 | — | — | — | — | — | — | — | — | — | — | — | |
| CT3D2022.07 | 76.3 | 92.51 | 75.07 | 55.36 | — | — | — | — | — | — | — | — | — | — | — | — | |
| Voxel R-CNNOpenPCDet reproduction=true2022.07 | 76.08 | 92.44 | 74.67 | 54.69 | 75.67 | — | — | — | — | — | — | — | — | — | — | — | |
| LiDAR R-CNN (2xc)proposals=PointPillars*, cascade=another stage on LiDAR R-CNN (2x) outputs2021.03 | 76 | 92.1 | 74.6 | 54.5 | 75.5 | 91.6 | 74.1 | 53.4 | 90.1 | 97 | 89.5 | 78.9 | 89.3 | 96.5 | 88.6 | 77.4 | |
| LiDAR R-CNN (pp)proposals=PointPillars*2021.03 | 75.6 | 92.1 | 74.3 | 53.3 | 75.1 | 91.6 | 73.8 | 52.6 | 88.2 | 97.1 | 87.6 | 78.3 | 87.5 | 96.6 | 86.9 | 76.8 | |
| LiDAR R-CNN (2x)proposals=PointPillars*, channels=double in points encoding network2021.03 | 75.6 | 91.9 | 74.2 | 53.5 | 75.1 | 91.5 | 73.6 | 52.7 | 90 | 97 | 89.4 | 78.5 | 89.2 | 96.6 | 88.6 | 77 | |
| CenterPoint-TSOpenPCDet reproduction=true2022.07 | 75.52 | 92.09 | 74.35 | 54.27 | 75.07 | — | — | — | — | — | — | — | — | — | — | — | |
| VoTr-TSD2022.07 | 74.95 | 92.28 | 73.36 | 51.09 | 74.25 | — | — | — | — | — | — | — | — | — | — | — | |
| 3D-MANMulti-frame point clouds=true, IoU threshold=0.72021.03 | 74.53 | 92.19 | 72.77 | 51.66 | 74.03 | 91.76 | 72.15 | 51.02 | — | — | — | — | — | — | — | — | |
| GLENet-S2022.07 | 72.29 | 91.02 | 71.86 | — | 71.85 | — | — | — | — | — | — | — | — | — | — | — | |
| PointPillars*framework=mmdetection3d2021.03 | 72.1 | 88.3 | 69.9 | 48 | 71.5 | 87.8 | 69.3 | 47.3 | 87.9 | 96.6 | 87.1 | 78.1 | 87.1 | 96 | 86.2 | 76.5 | |
| PV-RCNNMulti-frame point clouds=false, IoU threshold=0.72021.03 | 70.3 | 91.92 | 69.21 | 42.17 | 69.49 | 91.34 | 68.53 | 41.31 | — | — | — | — | — | — | — | — | |
| PV-RCNN2021.03 | 70.3 | 91.9 | 69.2 | 42.2 | 69.7 | 91.3 | 68.5 | 41.3 | 83 | 97.4 | 83 | 65 | 82.1 | 96.7 | 82 | 63.2 | |
| PV-RCNN2022.07 | 70.3 | 91.92 | 69.21 | 42.17 | 69.69 | — | — | — | — | — | — | — | — | — | — | — | |
| SECONDOpenPCDet reproduction=true2022.07 | 69.85 | 90.71 | 68.93 | 41.17 | 69.4 | — | — | — | — | — | — | — | — | — | — | — | |
| Pillar-od2021.03 | 69.8 | 88.5 | 66.5 | 42.9 | — | — | — | — | 87.1 | 95.8 | 84.7 | 72.1 | — | — | — | — | |
| 3D-MANMulti-frame point clouds=false, IoU threshold=0.72021.03 | 69.03 | 87.99 | 66.55 | 43.15 | 68.52 | 87.57 | 65.92 | 42.37 | — | — | — | — | — | — | — | — | |
| RCDMulti-frame point clouds=false, IoU threshold=0.72021.03 | 68.95 | 87.22 | 66.53 | 44.53 | 68.52 | 86.82 | 66.07 | 43.97 | — | — | — | — | — | — | — | — | |
| LiDAR R-CNN (rv)proposals=RV first stage2021.03 | 68.7 | 84.8 | 67.6 | 47.3 | 68.2 | 84.3 | 67.1 | 46.6 | 81.1 | 90.5 | 80.5 | 68.9 | 80.4 | 89.9 | 79.8 | 67.8 | |
| RCD2021.03 | 66.4 | 86.6 | 65.6 | 40 | 66.1 | 86.3 | 65.3 | 39.9 | 82.1 | 93.3 | 80.9 | 67.2 | 81.4 | 92.8 | 80.2 | 66.2 | |
| PointPillarsMulti-frame point clouds=true, IoU threshold=0.72021.03 | 65.41 | 85.58 | 61.51 | 39.51 | 64.88 | 85.02 | 60.95 | 38.91 | — | — | — | — | — | — | — | — | |
| AFDetMulti-frame point clouds=false, IoU threshold=0.72021.03 | 63.69 | 87.38 | 62.19 | 29.27 | — | — | — | — | — | — | — | — | — | — | — | — | |
| ConvLSTMMulti-frame point clouds=true, IoU threshold=0.72021.03 | 63.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointPillarsMulti-frame point clouds=false, IoU threshold=0.72021.03 | 63.27 | 84.9 | 59.18 | 35.79 | 62.72 | 84.35 | 58.57 | 35.16 | — | — | — | — | — | — | — | — | |
| MVFMulti-frame point clouds=false, IoU threshold=0.72021.03 | 62.93 | 86.3 | 60.02 | 36.02 | — | — | — | — | — | — | — | — | — | — | — | — | |
| MVF2022.07 | 62.93 | 86.3 | 60.02 | 36.02 | — | — | — | — | — | — | — | — | — | — | — | — | |
| MVF2021.03 | 62.9 | 86.3 | 60 | 36 | — | — | — | — | 80.4 | 93.6 | 79.2 | 63.1 | — | — | — | — | |
| PointPillar2022.07 | 56.62 | 81.01 | 51.75 | 27.94 | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointPillarreproduced by=[51]2021.03 | 56.6 | 81 | 51.8 | 27.9 | — | — | — | — | 75.6 | 92.1 | 74.1 | 55.5 | — | — | — | — | |
| StarNetMulti-frame point clouds=false, IoU threshold=0.72021.03 | 55.11 | 80.48 | 48.61 | 27.74 | 54.64 | 79.92 | 48.1 | 27.29 | — | — | — | — | — | — | — | — | |
| StarNet2021.03 | 53.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RV first stagefollows=[2]2021.03 | 53.4 | 73 | 49 | 28.1 | 52.8 | 72.3 | 48.4 | 27.8 | 70.5 | 86.2 | 68.5 | 51.9 | 69.5 | 85.2 | 67.6 | 51 | |
| MonoCoPIoU threshold=0.5, Retrained=false2025.05 | 11.76 | 27.59 | 6.03 | 1.48 | 11.65 | 27.35 | 5.97 | 1.46 | — | — | — | — | — | — | — | — | |
| DEVIANTIoU threshold=0.5, Retrained=false2025.05 | 10.98 | 26.85 | 5.13 | 0.18 | 10.89 | 26.64 | 5.08 | 0.18 | — | — | — | — | — | — | — | — | |
| MonoUNIIoU threshold=0.5, Retrained=false2025.05 | 10.98 | 26.63 | 4.04 | 0.57 | 10.73 | 26.3 | 3.98 | 0.55 | — | — | — | — | — | — | — | — | |
| MonoDGPIoU threshold=0.5, Retrained=true2025.05 | 10.06 | 24.01 | 5.06 | 0.99 | 9.84 | 23.73 | 5.01 | 0.98 | — | — | — | — | — | — | — | — | |
| GUP NetIoU threshold=0.5, Retrained=false2025.05 | 10.02 | 24.78 | 4.84 | 0.22 | 9.94 | 24.59 | 4.78 | 0.22 | — | — | — | — | — | — | — | — | |
| MonoDETRIoU threshold=0.5, Retrained=true2025.05 | 9.68 | 23.78 | 4.72 | 1 | 9.6 | 23.58 | 4.67 | 0.99 | — | — | — | — | — | — | — | — | |
| MonoUNIIoU threshold=0.7, Retrained=false2025.05 | 3.2 | 8.61 | 0.87 | 0.13 | 3.16 | 8.5 | 0.86 | 0.12 | — | — | — | — | — | — | — | — | |
| MonoCoPIoU threshold=0.7, Retrained=false2025.05 | 2.72 | 7.44 | 1.07 | 0.16 | 2.7 | 7.38 | 1.06 | 0.16 | — | — | — | — | — | — | — | — | |
| DEVIANTIoU threshold=0.7, Retrained=false2025.05 | 2.69 | 6.95 | 0.99 | 0.02 | 2.67 | 6.9 | 0.98 | 0.02 | — | — | — | — | — | — | — | — | |
| MonoDGPIoU threshold=0.7, Retrained=true2025.05 | 2.41 | 6.67 | 0.84 | 0.12 | 2.39 | 6.62 | 0.84 | 0.12 | — | — | — | — | — | — | — | — | |
| GUP NetIoU threshold=0.7, Retrained=false2025.05 | 2.28 | 6.15 | 0.81 | 0.03 | 2.27 | 6.11 | 0.8 | 0.03 | — | — | — | — | — | — | — | — | |
| MonoDETRIoU threshold=0.7, Retrained=true2025.05 | 2.11 | 5.99 | 0.73 | 0.12 | 2.1 | 5.94 | 0.73 | 0.12 | — | — | — | — | — | — | — | — |