# Object Detection on nuScenes (NDS, IoU, EC-IoU)

Source: [Object Detection on nuScenes (NDS, IoU, EC-IoU)](<https://www.sota2.com/research/sota/object-detection-on-nuscenes-nds-iou-ec-iou>)

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

Data updated: 2026-04-07T07:45:53.936Z

Evaluation of Object Detection performance on the nuScenes dataset, focusing on Normalized Distance Score (NDS), Intersection over Union (IoU), and Ego-centric IoU (EC-IoU).

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 |
| Metric | NDS |
| 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

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

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

- [EC-IoU](<https://www.sota2.com/research/sota/object-detection-on-nuscenes-nds-iou-ec-iou.md?metric=EC-IoU>): Higher is better; unit: PERCENT.

## Recorded results

| Method | NDS | Result date | Report paper |
| --- | --- | --- | --- |
| SparseDrive | 52.43 | Not recorded | 69d48f997d0172140ec74354 |
| SparseDrive | 51.68 | Not recorded | 69d48f997d0172140ec74354 |
| SparseDrive | 51.46 | Not recorded | 69d48f997d0172140ec74354 |
| UniAD | 49.8 | Not recorded | 69d48f997d0172140ec74354 |

### SparseDrive

NDS: 52.43. Result ID: 69d4b5c647f34ce924bc3b83.

[Reporting paper](<https://www.sota2.com/research/paper/69d48f997d0172140ec74354.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69d48f997d0172140ec74354.md>)

Recorded evaluation configuration: {"Loss":"Standard l1 loss","Fine-tuning":"true"}. This record does not assert independent reproduction.

### SparseDrive

NDS: 51.68. Result ID: 69d4b5c647f34ce924bc3b84.

[Reporting paper](<https://www.sota2.com/research/paper/69d48f997d0172140ec74354.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69d48f997d0172140ec74354.md>)

Recorded evaluation configuration: {"Loss":"EC-IoU","alpha":"2","Fine-tuning":"true"}. This record does not assert independent reproduction.

### SparseDrive

NDS: 51.46. Result ID: 69d4b5c647f34ce924bc3b85.

[Reporting paper](<https://www.sota2.com/research/paper/69d48f997d0172140ec74354.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69d48f997d0172140ec74354.md>)

Recorded evaluation configuration: {"Loss":"EC-IoU","alpha":"4","Fine-tuning":"true"}. This record does not assert independent reproduction.

### UniAD

NDS: 49.8. Result ID: 69d4b5c647f34ce924bc3b82.

[Reporting paper](<https://www.sota2.com/research/paper/69d48f997d0172140ec74354.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ee71e209131cea42c46.md>)

[Implementation](<https://github.com/OpenDriveLab/UniAD>)

Recorded evaluation configuration: {"Fine-tuning":"Included for reference"}. This record does not assert independent reproduction.

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