Monocular 3D Detection on Waymo (val)
17.54AP3D (All)CaDDN
Evaluation Results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| CaDDNIOU3D=0.5, Difficulty=Level_1, Extra=LiDAR2022.07 | 17.54 | 45 | 9.24 | 0.64 | 17.31 | 44.46 | 9.11 | 0.62 | |
| CaDDNIOU3D=0.5, Difficulty=Level_2, Extra=LiDAR2022.07 | 16.51 | 44.87 | 8.99 | 0.58 | 16.28 | 44.33 | 8.86 | 0.55 | |
| MonoIAIoU3D=0.5, Difficulty=Level 12026.03 | 12.54 | 29.75 | 6.57 | 1.19 | 12.44 | 29.52 | 6.51 | 1.18 | |
| MonoCoPIoU3D=0.5, Difficulty=Level 12026.03 | 11.76 | 27.59 | 6.03 | 1.48 | 11.65 | 27.35 | 5.97 | 1.46 | |
| MonoIAIoU3D=0.5, Difficulty=Level 22026.03 | 11.76 | 29.64 | 6.34 | 1.04 | 11.66 | 29.4 | 6.29 | 1.03 | |
| MonoCoPIoU3D=0.5, Difficulty=Level 22026.03 | 11.03 | 27.49 | 5.82 | 1.29 | 10.93 | 27.25 | 5.76 | 1.27 | |
| DEVIANTIOU3D=0.5, Difficulty=Level_1, Extra=None2022.07 | 10.98 | 26.85 | 5.13 | 0.18 | 10.89 | 26.64 | — | 0.18 | |
| DEVIANTIoU3D=0.5, Difficulty=Level 12026.03 | 10.98 | 26.85 | 5.13 | 0.18 | 10.89 | 26.64 | 5.08 | 0.18 | |
| DEVIANTIOU3D=0.5, Difficulty=Level_2, Extra=None2022.07 | 10.29 | 26.75 | 4.95 | 0.16 | 10.2 | 26.54 | 4.9 | 0.16 | |
| DEVIANTIoU3D=0.5, Difficulty=Level 22026.03 | 10.29 | 26.75 | 4.95 | 0.16 | 10.2 | 26.54 | — | 0.16 | |
| MonoDGPIoU3D=0.5, Difficulty=Level 12026.03 | 10.06 | 24.01 | 5.06 | 0.99 | 9.84 | 23.73 | 5.01 | 0.98 | |
| GUP Net (Retrained)IOU3D=0.5, Difficulty=Level_1, Extra=None2022.07 | 10.02 | 24.78 | 4.84 | 0.22 | 9.94 | 24.59 | 4.78 | 0.22 | |
| GUP NetIoU3D=0.5, Difficulty=Level 12026.03 | 10.02 | 24.78 | 4.84 | 0.22 | 9.94 | 24.59 | 4.78 | 0.22 | |
| MonoDETRIoU3D=0.5, Difficulty=Level 12026.03 | 9.68 | 23.78 | 4.72 | 1 | 9.6 | 23.58 | 4.67 | 0.99 | |
| MonoDGPIoU3D=0.5, Difficulty=Level 22026.03 | 9.43 | 23.92 | 4.88 | 0.86 | 9.32 | 23.65 | 4.84 | 0.85 | |
| GUP Net (Retrained)IOU3D=0.5, Difficulty=Level_2, Extra=None2022.07 | 9.39 | 24.69 | 4.67 | 0.19 | 9.31 | 24.5 | 4.62 | 0.19 | |
| GUP NetIoU3D=0.5, Difficulty=Level 22026.03 | 9.39 | 24.69 | 4.67 | 0.19 | 9.31 | 24.5 | 4.62 | 0.19 | |
| MonoDETRIoU3D=0.5, Difficulty=Level 22026.03 | 9.08 | 23.7 | 4.55 | 0.87 | 9 | 23.49 | 4.51 | 0.86 | |
| CaDDNIOU3D=0.7, Difficulty=Level_1, Extra=LiDAR2022.07 | 5.03 | 14.54 | 1.47 | 0.1 | 4.99 | 14.43 | 1.45 | 0.1 | |
| CaDDNIOU3D=0.7, Difficulty=Level_2, Extra=LiDAR2022.07 | 4.49 | 14.5 | 1.42 | 0.09 | 4.45 | 14.38 | 1.41 | 0.09 | |
| PCTIOU3D=0.5, Difficulty=Level_1, Extra=Depth2022.07 | 4.2 | 14.7 | 1.78 | 0.39 | 4.15 | 14.54 | 1.75 | 0.39 | |
| PCTIOU3D=0.5, Difficulty=Level_2, Extra=Depth2022.07 | 4.03 | 14.67 | 1.74 | 0.36 | 4.15 | 14.51 | 1.71 | 0.35 | |
| M3D-RPNIOU3D=0.5, Difficulty=Level_1, Extra=None2022.07 | 3.79 | 11.14 | 2.16 | 0.26 | 3.63 | 10.7 | 2.09 | 0.21 | |
| M3D-RPNIOU3D=0.5, Difficulty=Level_2, Extra=None2022.07 | 3.61 | 11.12 | 2.12 | 0.24 | 3.46 | 10.67 | 2.04 | 0.2 | |
| MonoIAIoU3D=0.7, Difficulty=Level 12026.03 | 3.07 | 8.5 | 1.12 | 0.13 | 3.05 | 8.43 | 1.11 | 0.13 | |
| PatchNetIOU3D=0.5, Difficulty=Level_1, Extra=Depth2022.07 | 2.92 | 10.03 | 1.09 | 0.23 | 2.74 | 9.75 | 0.96 | 0.18 | |
| MonoIAIoU3D=0.7, Difficulty=Level 22026.03 | 2.88 | 8.47 | 1.08 | 0.12 | 2.86 | 8.4 | 1.07 | 0.12 | |
| MonoCoPIoU3D=0.7, Difficulty=Level 12026.03 | 2.72 | 7.44 | — | 0.16 | 2.7 | 7.38 | 1.06 | 0.16 | |
| DEVIANTIOU3D=0.7, Difficulty=Level_1, Extra=None2022.07 | 2.69 | 6.95 | 0.99 | 0.02 | 2.67 | 6.9 | 0.98 | 0.02 | |
| DEVIANTIoU3D=0.7, Difficulty=Level 12026.03 | 2.69 | 6.95 | 0.99 | 0.02 | 2.67 | 6.9 | 0.98 | 0.02 | |
| MonoCoPIoU3D=0.7, Difficulty=Level 22026.03 | 2.55 | 7.41 | 1.03 | 0.14 | 2.53 | 7.35 | 1.02 | 0.14 | |
| DEVIANTIOU3D=0.7, Difficulty=Level_2, Extra=None2022.07 | 2.52 | 6.93 | 0.95 | 0.02 | 2.5 | 6.87 | 0.94 | 0.02 | |
| DEVIANTIoU3D=0.7, Difficulty=Level 22026.03 | 2.52 | 6.93 | 0.95 | 0.02 | 2.5 | 6.87 | 0.94 | 0.02 | |
| PatchNetIOU3D=0.5, Difficulty=Level_2, Extra=Depth2022.07 | 2.42 | 10.01 | 1.07 | 0.22 | 2.28 | 9.73 | 0.97 | 0.16 | |
| MonoDGPIoU3D=0.7, Difficulty=Level 12026.03 | 2.41 | 6.67 | 0.84 | 0.12 | 2.39 | 6.62 | 0.84 | 0.12 | |
| GUP Net (Retrained)IOU3D=0.7, Difficulty=Level_1, Extra=None2022.07 | 2.28 | 6.15 | 0.81 | 0.03 | 2.27 | 6.11 | 0.8 | 0.03 | |
| GUP NetIoU3D=0.7, Difficulty=Level 12026.03 | 2.28 | 6.15 | 0.81 | 0.03 | 2.27 | 6.11 | 0.8 | 0.03 | |
| MonoDGPIoU3D=0.7, Difficulty=Level 22026.03 | 2.26 | 6.65 | 0.81 | 0.1 | 2.24 | 6.59 | 0.81 | 0.1 | |
| GUP Net (Retrained)IOU3D=0.7, Difficulty=Level_2, Extra=None2022.07 | 2.14 | 6.13 | 0.78 | 0.02 | 2.12 | 6.08 | 0.77 | 0.02 | |
| GUP NetIoU3D=0.7, Difficulty=Level 22026.03 | 2.14 | 6.13 | 0.78 | 0.02 | 2.12 | 6.08 | 0.77 | 0.02 | |
| MonoDETRIoU3D=0.7, Difficulty=Level 12026.03 | 2.11 | 5.99 | 0.73 | 0.12 | 2.1 | 5.94 | 0.73 | 0.12 | |
| MonoDETRIoU3D=0.7, Difficulty=Level 22026.03 | 1.98 | 5.96 | 0.71 | 0.1 | 1.97 | 5.92 | 0.7 | 0.1 | |
| PCTIOU3D=0.7, Difficulty=Level_1, Extra=Depth2022.07 | 0.89 | 3.18 | 0.27 | 0.07 | 0.88 | 3.15 | 0.27 | 0.07 | |
| PCTIOU3D=0.7, Difficulty=Level_2, Extra=Depth2022.07 | 0.66 | 3.18 | 0.27 | 0.07 | 0.66 | 3.15 | 0.26 | 0.07 | |
| PatchNetIOU3D=0.7, Difficulty=Level_1, Extra=Depth2022.07 | 0.39 | 1.67 | 0.13 | 0.03 | 0.39 | 1.63 | 0.12 | 0.03 | |
| PatchNetIOU3D=0.7, Difficulty=Level_2, Extra=Depth2022.07 | 0.38 | 1.67 | 0.13 | 0.03 | 0.38 | 1.63 | 0.11 | 0.03 | |
| M3D-RPNIOU3D=0.7, Difficulty=Level_1, Extra=None2022.07 | 0.35 | 1.12 | 0.18 | 0.02 | 0.34 | 1.1 | 0.18 | 0.02 | |
| M3D-RPNIOU3D=0.7, Difficulty=Level_2, Extra=None2022.07 | 0.33 | 1.12 | 0.18 | 0.02 | 0.33 | 1.1 | 0.17 | 0.02 |