# Multi-camera 3D Object Detection on Waymo Open Dataset (WOD) v1.3.1 (val)

Source: [Multi-camera 3D Object Detection on Waymo Open Dataset (WOD) v1.3.1 (val)](<https://www.sota2.com/research/sota/multi-camera-3d-object-detection-on-waymo-open-dataset-wod-v1-3-1-val>)

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

Data updated: 2026-02-26T05:48:07.215Z

Evaluation of Multi-camera 3D Object Detection performance on the validation split of Waymo Open Dataset version 1.3.1, reporting LET-APL, LET-AP, LET-APH, 3D AP70, and 3D AP50 metrics.

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 | Multi-camera 3D Object Detection |
| Dataset (including any stated split) | Waymo Open Dataset (WOD) v1.3.1 (val) |
| Metric | LET-APL |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 2 of 2 |
| 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

- [LET-APL](<https://www.sota2.com/research/sota/multi-camera-3d-object-detection-on-waymo-open-dataset-wod-v1-3-1-val.md?metric=LET-APL>): Higher is better; unit: PERCENT.

- [LET-AP](<https://www.sota2.com/research/sota/multi-camera-3d-object-detection-on-waymo-open-dataset-wod-v1-3-1-val.md?metric=LET-AP>): Higher is better; unit: PERCENT.

- [LET-APH](<https://www.sota2.com/research/sota/multi-camera-3d-object-detection-on-waymo-open-dataset-wod-v1-3-1-val.md?metric=LET-APH>): Higher is better; unit: PERCENT.

- [3D AP70](<https://www.sota2.com/research/sota/multi-camera-3d-object-detection-on-waymo-open-dataset-wod-v1-3-1-val.md?metric=3D%20AP70>): Higher is better; unit: PERCENT.

- [3D AP50](<https://www.sota2.com/research/sota/multi-camera-3d-object-detection-on-waymo-open-dataset-wod-v1-3-1-val.md?metric=3D%20AP50>): Higher is better; unit: PERCENT.

## Recorded results

| Method | LET-APL | Result date | Report paper |
| --- | --- | --- | --- |
| BA-Det\_FCOS3D | 58.47 | Not recorded | 68fa6ede1e209131cea42849 |
| MV-FCOS3D++ | 58.11 | Not recorded | 68fa6ede1e209131cea42849 |

### BA-Det\_FCOS3D

LET-APL: 58.47. Result ID: 699063f33a6c3148490037a1.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6ede1e209131cea42849.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ede1e209131cea42849.md>)

[Implementation](<https://github.com/jiaweihe1996/BA-Det>)

Recorded evaluation configuration: {"Temporal information":true,"Difficulty level":"LEVEL\_2","Object class":"VEHICLE"}. This record does not assert independent reproduction.

### MV-FCOS3D++

LET-APL: 58.11. Result ID: 699063f33a6c3148490037a0.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6ede1e209131cea42849.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d1e1e209131cea37e5e.md>)

Recorded evaluation configuration: {"Temporal information":true,"Difficulty level":"LEVEL\_2","Object class":"VEHICLE"}. This record does not assert independent reproduction.

Page 1 of 1. This is an index page, not the full collection.