BEV Vehicle Detection on Waymo Open Dataset 1.0 (val)
82.96BEV mAP OverallPV-RCNN
Evaluation Results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| PV-RCNNDifficulty=LEVEL 1, IoU threshold=0.72019.12 | 82.96 | 97.35 | 82.99 | 64.97 | 82.06 | 96.71 | 82.01 | 63.15 | |
| MVFDifficulty=LEVEL 1, IoU threshold=0.72019.12 | 80.4 | 93.59 | 79.21 | 63.09 | — | — | — | — | |
| PV-RCNNDifficulty=LEVEL 2, IoU threshold=0.72019.12 | 77.45 | 94.64 | 80.39 | 55.39 | 76.6 | 94.03 | 79.4 | 53.82 | |
| PointPillarDifficulty=LEVEL 1, IoU threshold=0.72019.12 | 75.57 | 92.1 | 74.06 | 55.47 | — | — | — | — |