Bird's Eye View Detection on Waymo Open Dataset 202 sequences (val)
88.19BEV mAP L1 OverallVoxel R-CNN
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| Voxel R-CNNIoU threshold=0.72020.12 | 88.19 | 97.62 | 87.34 | 77.7 | 81.07 | 96.99 | 81.37 | 63.26 | |
| Pillar-ODIoU threshold=0.72020.12 | 87.11 | 95.78 | 84.87 | 72.12 | — | — | — | — | |
| PV-RCNNIoU threshold=0.72020.12 | 82.96 | 97.35 | 82.99 | 64.97 | 77.45 | 94.64 | 80.39 | 55.39 | |
| MVFIoU threshold=0.72020.12 | 80.4 | 93.59 | 79.21 | 63.09 | — | — | — | — | |
| PointPillarIoU threshold=0.72020.12 | 75.57 | 92.1 | 74.06 | 55.47 | — | — | — | — |