# Object Detection on nuScenes 1.0

Source: [Object Detection on nuScenes 1.0](<https://www.sota2.com/research/sota/object-detection-on-nuscenes-1-0>)

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

Data updated: 2026-02-26T05:22:47.243Z

Evaluation of standard 2D Object Detection performance on the nuScenes 1.0 dataset, reporting Average Precision (AP) and Average Recall (AR) 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 | Object Detection |
| Dataset (including any stated split) | nuScenes 1.0 |
| Metric | AP |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 4 of 4 |
| 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

- [AP](<https://www.sota2.com/research/sota/object-detection-on-nuscenes-1-0.md?metric=AP>): Higher is better; unit: PERCENT.

- [AP @ IoU=0.50](<https://www.sota2.com/research/sota/object-detection-on-nuscenes-1-0.md?metric=AP%20%40%20IoU%3D0.50>): Higher is better; unit: PERCENT.

- [AP @ IoU=0.75](<https://www.sota2.com/research/sota/object-detection-on-nuscenes-1-0.md?metric=AP%20%40%20IoU%3D0.75>): Higher is better; unit: PERCENT.

- [AP (Medium Objects)](<https://www.sota2.com/research/sota/object-detection-on-nuscenes-1-0.md?metric=AP%20(Medium%20Objects)>): Higher is better; unit: PERCENT.

- [AP (Large Objects)](<https://www.sota2.com/research/sota/object-detection-on-nuscenes-1-0.md?metric=AP%20(Large%20Objects)>): Higher is better; unit: PERCENT.

- [AR](<https://www.sota2.com/research/sota/object-detection-on-nuscenes-1-0.md?metric=AR>): Higher is better; unit: PERCENT.

## Recorded results

| Method | AP | Result date | Report paper |
| --- | --- | --- | --- |
| HRFuser-T | 34.6 | Not recorded | 68fa70411e209131cea49f63 |
| HRFuser-Tradar (HRFormer) | 31.9 | Not recorded | 68fa70411e209131cea49f63 |
| CRF-Net | 27 | Not recorded | 68fa70411e209131cea49f63 |
| CRF-Net | 27 | Not recorded | 68fa70411e209131cea49f63 |

### HRFuser-T

AP: 34.6. Result ID: 69910f4f3a6c3148490561e7.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70411e209131cea49f63.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70411e209131cea49f63.md>)

[Implementation](<https://github.com/timbroed/HRFuser>)

Recorded evaluation configuration: {"Modalities":"Camera + Radar + Lidar"}. This record does not assert independent reproduction.

### HRFuser-Tradar (HRFormer)

AP: 31.9. Result ID: 69910f4f3a6c3148490561ec.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70411e209131cea49f63.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70411e209131cea49f63.md>)

[Implementation](<https://github.com/timbroed/HRFuser>)

Recorded evaluation configuration: {"Modalities":"CR"}. This record does not assert independent reproduction.

### CRF-Net

AP: 27. Result ID: 69910f4f3a6c3148490561e6.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70411e209131cea49f63.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa67881e209131cea16bb5.md>)

Recorded evaluation configuration: {"Modalities":"Camera + Radar"}. This record does not assert independent reproduction.

### CRF-Net

AP: 27. Result ID: 69910f4f3a6c3148490561eb.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70411e209131cea49f63.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa67881e209131cea16bb5.md>)

Recorded evaluation configuration: {"Modalities":"CR"}. This record does not assert independent reproduction.

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