3D Object Detection (Vehicle) on Waymo Open Dataset LEVEL_2 (val)
69.683D AP (Overall)GLENet-VR
Evaluation results
| Method | Links | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| GLENet-VR2022.07 | 69.68 | 92.09 | 71.21 | 44.36 | 68.97 | — | — | — | — | — | — | — | — | — | — | — | |
| CT3D2022.07 | 69.04 | 91.76 | 68.93 | 42.6 | — | — | — | — | — | — | — | — | — | — | — | — | |
| GLENet-CP2022.07 | 68.5 | 91.95 | 69.43 | 43.68 | 68.08 | — | — | — | — | — | — | — | — | — | — | — | |
| LiDAR R-CNN (2xc)proposals=PointPillars*, cascade=another stage on LiDAR R-CNN (2x) outputs2021.03 | 68.3 | 91.3 | 68.5 | 42.4 | 67.9 | 90.9 | 68 | 41.8 | 81.7 | 94.3 | 82.3 | 65.8 | 81 | 93.9 | 81.5 | 64.5 | |
| Voxel R-CNNOpenPCDet reproduction=true2022.07 | 68.06 | 91.56 | 69.62 | 42.8 | 67.64 | — | — | — | — | — | — | — | — | — | — | — | |
| LiDAR R-CNN (2x)proposals=PointPillars*, channels=double in points encoding network2021.03 | 68 | 91.1 | 68.1 | 41.1 | 67.6 | 90.7 | 67.6 | 40.5 | 81.6 | 94.3 | 82.2 | 65.6 | 80.9 | 93.9 | 81.4 | 64.2 | |
| 3D-MANMulti-frame point clouds=true, IoU threshold=0.72021.03 | 67.61 | 92 | 67.2 | 41.38 | 67.14 | 91.57 | 66.62 | 40.84 | — | — | — | — | — | — | — | — | |
| CenterPoint-TSOpenPCDet reproduction=true2022.07 | 67.37 | 90.89 | 68.11 | 42.46 | 66.94 | — | — | — | — | — | — | — | — | — | — | — | |
| Pyramid-PV2022.07 | 67.23 | — | — | — | 66.68 | — | — | — | — | — | — | — | — | — | — | — | |
| LiDAR R-CNN (pp)proposals=PointPillars*2021.03 | 66.5 | 89.1 | 68.3 | 40.8 | 66.1 | 88.7 | 67.7 | 40.3 | 81.2 | 94.2 | 81.8 | 63.6 | 80.5 | 93.7 | 81 | 62.3 | |
| VoTr-TSD2022.07 | 65.91 | — | — | — | 65.29 | — | — | — | — | — | — | — | — | — | — | — | |
| PV-RCNN2021.03 | 65.4 | 91.6 | 65.1 | 36.5 | 64.8 | 91 | 64.5 | 35.7 | 77.5 | 94.6 | 80.4 | 55.4 | 76.6 | 94 | 79.4 | 53.8 | |
| PV-RCNNMulti-frame point clouds=false, IoU threshold=0.72021.03 | 65.36 | 91.58 | 65.13 | 36.46 | 64.79 | 91 | 64.49 | 35.7 | — | — | — | — | — | — | — | — | |
| PV-RCNN2022.07 | 65.36 | 91.58 | 65.13 | 36.46 | 64.79 | — | — | — | — | — | — | — | — | — | — | — | |
| GLENet-S2022.07 | 64.78 | 87.56 | 65.11 | 38.6 | 64.25 | — | — | — | — | — | — | — | — | — | — | — | |
| PointPillars*framework=mmdetection3d2021.03 | 63.6 | 87.4 | 62.9 | 37.2 | 63.1 | 86.9 | 62.3 | 36.7 | 81.3 | 94 | 81.7 | 65.5 | 80.4 | 93.5 | 80.8 | 64.1 | |
| SECONDOpenPCDet reproduction=true2022.07 | 62.76 | 86.92 | 62.57 | 35.89 | 62.3 | — | — | — | — | — | — | — | — | — | — | — | |
| 3D-MANMulti-frame point clouds=false, IoU threshold=0.72021.03 | 60.16 | 87.1 | 59.27 | 32.69 | 59.71 | 86.68 | 58.71 | 32.08 | — | — | — | — | — | — | — | — | |
| LiDAR R-CNN (rv)proposals=RV first stage2021.03 | 60.1 | 84.1 | 61.8 | 35.7 | 59.7 | 83.6 | 61.3 | 35.2 | 74.2 | 89.8 | 74.7 | 54.8 | 73.5 | 89.2 | 74 | 53.9 | |
| PointPillarsMulti-frame point clouds=true, IoU threshold=0.72021.03 | 57.28 | 84.31 | 55.41 | 29.71 | 56.81 | 83.79 | 54.9 | 29.24 | — | — | — | — | — | — | — | — | |
| PointPillarsMulti-frame point clouds=false, IoU threshold=0.72021.03 | 55.18 | 83.61 | 53.01 | 26.73 | 54.69 | 83.08 | 52.46 | 26.24 | — | — | — | — | — | — | — | — | |
| StarNetMulti-frame point clouds=false, IoU threshold=0.72021.03 | 48.69 | 79.67 | 43.57 | 20.53 | 48.26 | 79.11 | 43.11 | 20.19 | — | — | — | — | — | — | — | — | |
| RV first stagefollows=[2]2021.03 | 46 | 70.6 | 44.1 | 21 | 45.5 | 69.8 | 43.6 | 20.7 | 63.5 | 85.5 | 62.7 | 41.1 | 62.7 | 84.5 | 61.9 | 40.3 | |
| MonoCoPIoU threshold=0.5, Retrained=false2025.05 | 11.03 | 27.49 | 5.82 | 1.29 | 10.93 | 27.25 | 5.76 | 1.27 | — | — | — | — | — | — | — | — | |
| MonoUNIIoU threshold=0.5, Retrained=false2025.05 | 10.38 | 26.57 | 3.95 | 0.53 | 10.24 | 26.24 | 3.89 | 0.51 | — | — | — | — | — | — | — | — | |
| DEVIANTIoU threshold=0.5, Retrained=false2025.05 | 10.29 | 26.75 | — | 0.16 | 10.2 | 26.54 | 4.9 | 0.16 | — | — | — | — | — | — | — | — | |
| MonoDGPIoU threshold=0.5, Retrained=true2025.05 | 9.43 | 23.92 | 4.88 | 0.86 | 9.32 | 23.65 | 4.84 | 0.85 | — | — | — | — | — | — | — | — | |
| GUP NetIoU threshold=0.5, Retrained=false2025.05 | 9.39 | 24.69 | 4.67 | 0.19 | 9.31 | 24.5 | 4.62 | 0.19 | — | — | — | — | — | — | — | — | |
| MonoDETRIoU threshold=0.5, Retrained=true2025.05 | 9.08 | 23.7 | 4.55 | 0.87 | 9 | 23.49 | 4.51 | 0.86 | — | — | — | — | — | — | — | — | |
| CaDDNExtra=LiDAR2024.10 | 4.49 | 14.5 | 1.42 | 0.09 | 4.45 | 14.38 | 1.41 | 0.09 | — | — | — | — | — | — | — | — | |
| MonoDGPExtra=None2024.10 | 4 | 10.2 | 1.13 | 0.15 | 3.96 | 10.08 | 1.12 | 0.15 | — | — | — | — | — | — | — | — | |
| MonoUNIExtra=None2024.10 | 3.04 | 8.59 | 0.85 | 0.12 | 3 | 8.48 | 0.84 | 0.12 | — | — | — | — | — | — | — | — | |
| MonoUNIIoU threshold=0.7, Retrained=false2025.05 | 3.04 | 8.59 | 0.85 | 0.12 | 3 | 8.48 | 0.84 | 0.12 | — | — | — | — | — | — | — | — | |
| MonoCoPIoU threshold=0.7, Retrained=false2025.05 | 2.55 | 7.41 | 1.03 | 0.14 | 2.53 | 7.35 | — | 0.14 | — | — | — | — | — | — | — | — | |
| DEVIANTExtra=None2024.10 | 2.52 | 6.93 | 0.95 | 0.02 | 2.5 | 6.87 | 0.94 | 0.02 | — | — | — | — | — | — | — | — | |
| DEVIANTIoU threshold=0.7, Retrained=false2025.05 | 2.52 | 6.93 | 0.95 | 0.02 | 2.5 | 6.87 | 0.94 | 0.02 | — | — | — | — | — | — | — | — | |
| MonoDGPIoU threshold=0.7, Retrained=true2025.05 | 2.26 | 6.65 | 0.81 | 0.1 | 2.24 | 6.59 | 0.81 | 0.1 | — | — | — | — | — | — | — | — | |
| GUPNetExtra=None2024.10 | 2.14 | 6.13 | 0.78 | 0.02 | 2.12 | 6.08 | 0.77 | 0.02 | — | — | — | — | — | — | — | — | |
| GUP NetIoU threshold=0.7, Retrained=false2025.05 | 2.14 | 6.13 | 0.78 | 0.02 | 2.12 | 6.08 | 0.77 | 0.02 | — | — | — | — | — | — | — | — | |
| MonoDETRIoU threshold=0.7, Retrained=true2025.05 | 1.98 | 5.96 | 0.71 | 0.1 | 1.97 | 5.92 | 0.7 | 0.1 | — | — | — | — | — | — | — | — | |
| PCTExtra=Depth2024.10 | 0.66 | 3.18 | 0.27 | 0.07 | 0.66 | 3.15 | 0.26 | 0.07 | — | — | — | — | — | — | — | — | |
| PatchNetExtra=Depth2024.10 | 0.38 | 1.67 | 0.13 | 0.03 | 0.36 | 1.63 | 0.11 | 0.03 | — | — | — | — | — | — | — | — | |
| M3D-RPNExtra=None2024.10 | 0.35 | 1.12 | 0.18 | 0.02 | 0.33 | 1.1 | 0.17 | 0.02 | — | — | — | — | — | — | — | — |