# BEV Detection on nuScenes (val)

Source: [BEV Detection on nuScenes (val)](<https://www.sota2.com/research/sota/bev-detection-on-nuscenes-val>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-03-31T08:02:29.083Z

Evaluation of Bird's Eye View (BEV) Detection performance on the nuScenes validation set, typically measured using standard detection metrics like mAP and NDS.

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 | BEV Detection |
| Dataset (including any stated split) | nuScenes (val) |
| Metric | mAP |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 15 of 15 |
| 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

- [mAP](<https://www.sota2.com/research/sota/bev-detection-on-nuscenes-val.md?metric=mAP>): Higher is better; unit: PERCENT.

- [NDS](<https://www.sota2.com/research/sota/bev-detection-on-nuscenes-val.md?metric=NDS>): Higher is better; unit: PERCENT.

- [AP BEV (Easy, IoU\>=0.7)](<https://www.sota2.com/research/sota/bev-detection-on-nuscenes-val.md?metric=AP%20BEV%20(Easy%2C%20IoU%3E%3D0.7)>): Higher is better; unit: PERCENT.

- [AP BEV (Mod., IoU\>=0.7)](<https://www.sota2.com/research/sota/bev-detection-on-nuscenes-val.md?metric=AP%20BEV%20(Mod.%2C%20IoU%3E%3D0.7)>): Higher is better; unit: PERCENT.

- [AP BEV (Easy, IoU\>=0.5)](<https://www.sota2.com/research/sota/bev-detection-on-nuscenes-val.md?metric=AP%20BEV%20(Easy%2C%20IoU%3E%3D0.5)>): Higher is better; unit: PERCENT.

- [AP BEV (Mod., IoU\>=0.5)](<https://www.sota2.com/research/sota/bev-detection-on-nuscenes-val.md?metric=AP%20BEV%20(Mod.%2C%20IoU%3E%3D0.5)>): Higher is better; unit: PERCENT.

- [AP BEV (Easy)](<https://www.sota2.com/research/sota/bev-detection-on-nuscenes-val.md?metric=AP%20BEV%20(Easy)>): Higher is better; unit: PERCENT.

- [AP BEV (Mod.)](<https://www.sota2.com/research/sota/bev-detection-on-nuscenes-val.md?metric=AP%20BEV%20(Mod.)>): Higher is better; unit: PERCENT.

## Recorded results

| Method | mAP | Result date | Report paper |
| --- | --- | --- | --- |
| HTCL-M | 51.2 | Not recorded | 68fa758c1e209131cea688c6 |
| BEVDet4D-Base | 42.6 | Not recorded | 68fa758c1e209131cea688c6 |
| BEVDepth-R101 | 41.2 | Not recorded | 68fa758c1e209131cea688c6 |
| BEVDet-Base | 39.7 | Not recorded | 68fa758c1e209131cea688c6 |
| PETR-R101 | 35.7 | Not recorded | 68fa758c1e209131cea688c6 |

### HTCL-M

mAP: 51.2. Result ID: 6993d0fe3a6c31484918c2e1.

[Reporting paper](<https://www.sota2.com/research/paper/68fa758c1e209131cea688c6.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa758c1e209131cea688c6.md>)

[Implementation](<https://github.com/Arlo0o/HTCL>)

Recorded evaluation configuration: {"Resolution":"1600x640"}. This record does not assert independent reproduction.

### BEVDet4D-Base

mAP: 42.6. Result ID: 6993d0fe3a6c31484918c2de.

[Reporting paper](<https://www.sota2.com/research/paper/68fa758c1e209131cea688c6.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6cbf1e209131cea35c1f.md>)

Recorded evaluation configuration: {"Resolution":"1600x640"}. This record does not assert independent reproduction.

### BEVDepth-R101

mAP: 41.2. Result ID: 6993d0fe3a6c31484918c2e0.

[Reporting paper](<https://www.sota2.com/research/paper/68fa758c1e209131cea688c6.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6e1b1e209131cea3dd0f.md>)

[Implementation](<https://github.com/Megvii-BaseDetection/BEVDepth>)

Recorded evaluation configuration: {"Resolution":"512x1408"}. This record does not assert independent reproduction.

### BEVDet-Base

mAP: 39.7. Result ID: 6993d0fe3a6c31484918c2dd.

[Reporting paper](<https://www.sota2.com/research/paper/68fa758c1e209131cea688c6.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6cbf1e209131cea35c1f.md>)

Recorded evaluation configuration: {"Resolution":"1600x640"}. This record does not assert independent reproduction.

### PETR-R101

mAP: 35.7. Result ID: 6993d0fe3a6c31484918c2df.

[Reporting paper](<https://www.sota2.com/research/paper/68fa758c1e209131cea688c6.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d171e209131cea379ba.md>)

[Implementation](<https://github.com/megvii-research/PETR>)

Recorded evaluation configuration: {"Resolution":"1408x512"}. This record does not assert independent reproduction.

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