3D Object Detection (Vehicle) on Waymo Open Dataset (val)
89.493D AP L1DetZero (Full)
Evaluation results
| Method | Links | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| DetZero (Full)Frames=200, TTA/Ensemble=true2023.06 | 89.49 | — | — | — | — | 89.06 | 83.34 | 82.92 | — | — | |
| 3DALFrames=200, TTA/Ensemble=true2023.06 | 84.5 | — | — | — | — | — | — | — | — | — | |
| DetZero (Upstream)Frames=52023.06 | 83.07 | — | — | — | — | 82.57 | 75.72 | 75.24 | — | — | |
| MPPNetFrames=162023.06 | 82.74 | — | — | — | — | 82.28 | 75.41 | 74.96 | — | — | |
| RSNLoss Function=Poly-1* (L_poly-1*), IoU Threshold=0.72022.04 | 78.9 | 91.5 | 90.9 | 82.7 | 82.1 | 78.4 | 69.9 | 69.5 | — | — | |
| CenterFormerFrames=82023.06 | 78.8 | — | — | — | — | 78.3 | 74.3 | 73.8 | — | — | |
| RSNLoss Function=Focal Loss (L_FL), IoU Threshold=0.72022.04 | 78.4 | 91.3 | 90.8 | 82.6 | 82.2 | 78.1 | 69.5 | 69.1 | — | — | |
| PV-RCNNFrames=12023.06 | 77.51 | — | — | — | — | 76.89 | 68.98 | 68.41 | — | — | |
| PDVFrames=12023.06 | 76.85 | — | — | — | — | 76.33 | 69.3 | 68.81 | — | — | |
| CenterPointFrames=12023.06 | 76.7 | — | — | — | — | 76.2 | 68.8 | 68.3 | — | — | |
| 3D-MANFrames=162023.06 | 74.5 | — | — | — | — | 74 | 67.6 | 67.1 | — | — | |
| PointPillarsLoss Function=Poly-1 (L_poly-1), IoU Threshold=0.72022.04 | 63.7 | 83.6 | 82.5 | 74.8 | 73.7 | 63.1 | 55.5 | 55 | — | — | |
| PointPillarsLoss Function=Focal Loss (L_FL), IoU Threshold=0.72022.04 | 63.3 | 82.5 | 81.5 | 73.9 | 72.9 | 62.7 | 55.2 | 54.7 | — | — | |
| MVFFrames=12023.06 | 62.93 | — | — | — | — | — | — | — | — | — | |
| AFDetDifficulty=L12021.01 | — | — | — | — | — | — | — | — | 63.7 | — | |
| CVCNetDifficulty=L12021.01 | — | — | — | — | — | — | — | — | 65.2 | — | |
| INTFrames=22023.06 | — | — | — | — | — | — | — | 73.3 | — | — | |
| MVFDifficulty=L12021.01 | — | — | — | — | — | — | — | — | 62.9 | — | |
| Pillar-ODDifficulty=L12021.01 | — | — | — | — | — | — | — | — | 69.8 | — | |
| PointPillarsDifficulty=L12021.01 | — | — | — | — | — | — | — | — | 56.6 | — | |
| PPBADifficulty=L12021.01 | — | — | — | — | — | — | — | — | 62.4 | — | |
| PV-RCNNDifficulty=L12021.01 | — | — | — | — | — | — | — | — | 70.3 | 69.7 | |
| PV-RCNNDifficulty=L22021.01 | — | — | — | — | — | — | — | — | 65.4 | 64.8 | |
| SECONDDifficulty=L1, implementation=re-implemented by [36]2021.01 | — | — | — | — | — | — | — | — | 70.2 | 69.7 | |
| SECONDDifficulty=L2, implementation=re-implemented by [36]2021.01 | — | — | — | — | — | — | — | — | 62.5 | 62 | |
| SECOND + DSADifficulty=L12021.01 | — | — | — | — | — | — | — | — | 71.1 | 70.7 | |
| SECOND + DSADifficulty=L22021.01 | — | — | — | — | — | — | — | — | 63.4 | 63 | |
| StarNetDifficulty=L12021.01 | — | — | — | — | — | — | — | — | 53.7 | — |