Regression Calibration on nuScenes In-Distribution
1.518MCA (xyz)Density-aware Temperature Scaling
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| Density-aware Temperature ScalingDetector=SECOND, Calibration Type=Density-aware, Calibration Scope=Class-wise2026.05 | 1.518 | 1.758 | 6.037 | 54.36 | 63.65 | |
| TSDetector=SECOND, Calibration Type=Post-hoc, Calibration Scope=Class-wise2026.05 | 1.533 | 1.919 | 6.04 | 54.53 | 63.57 | |
| Density-aware Temperature ScalingDetector=PETR, Calibration Type=Density-aware, Calibration Scope=Class-wise2026.05 | 1.538 | 2.141 | 8.099 | 38.36 | 45.03 | |
| TSDetector=PETR, Calibration Type=Post-hoc, Calibration Scope=Class-wise2026.05 | 1.692 | 2.139 | 8.102 | 38.26 | 45.04 | |
| DepthDetector=PETR, Calibration Type=Post-hoc, Calibration Scope=Class-wise2026.05 | 2.407 | 2.442 | 9.713 | 38.26 | 45.04 | |
| Density-aware Temperature ScalingDetector=SECOND, Calibration Type=Density-aware, Calibration Scope=Global2026.05 | 2.875 | 4.693 | 7.309 | 54.36 | 63.65 | |
| ESDetector=SECOND, Calibration Type=Train-time2026.05 | 3.4 | 6.235 | 8.14 | 54.53 | 63.57 | |
| TSDetector=SECOND, Calibration Type=Post-hoc, Calibration Scope=Global2026.05 | 3.443 | 5.503 | 7.521 | 54.53 | 63.57 | |
| TSDetector=PETR, Calibration Type=Post-hoc, Calibration Scope=Global2026.05 | 4.028 | 5.106 | 9.657 | 38.26 | 45.04 | |
| Density-aware Temperature ScalingDetector=PETR, Calibration Type=Density-aware, Calibration Scope=Global2026.05 | 4.059 | 5.236 | 9.71 | 38.36 | 45.03 | |
| KLDetector=PETR, Calibration Type=Train-time2026.05 | 4.384 | 4.62 | 11.39 | 38.27 | 45.05 | |
| KLDetector=SECOND, Calibration Type=Train-time2026.05 | 4.692 | 4.627 | 14.631 | 54.53 | 63.57 | |
| DepthDetector=SECOND, Calibration Type=Post-hoc, Calibration Scope=Class-wise2026.05 | 4.749 | 2.112 | 7.683 | 54.53 | 63.57 | |
| ESDetector=PETR, Calibration Type=Train-time2026.05 | 6.93 | 7.103 | 11.49 | 38.27 | 45.03 | |
| DepthDetector=PETR, Calibration Type=Post-hoc, Calibration Scope=Global2026.05 | 8.254 | 15.381 | 18.469 | 38.26 | 45.04 | |
| DepthDetector=SECOND, Calibration Type=Post-hoc, Calibration Scope=Global2026.05 | 12.494 | 13.884 | 16.741 | 54.53 | 63.57 | |
| DEDetector=SECOND, Calibration Type=Sample-based2026.05 | 23.089 | 39.337 | 31.997 | 50.83 | 62.36 | |
| DEDetector=PETR, Calibration Type=Sample-based2026.05 | 28.871 | 38.092 | 27.257 | 33.2 | 43.39 | |
| MCDDetector=SECOND, Calibration Type=Sample-based2026.05 | 31.62 | 40.353 | 32.627 | 51.8 | 62.3 | |
| CalDETRDetector=PETR, Calibration Type=Sample-based2026.05 | 31.834 | 39.713 | 27.551 | 37.12 | 44.28 | |
| CalDETRDetector=SECOND, Calibration Type=Sample-based2026.05 | 34.234 | 38.844 | 29.5 | 53.69 | 63.17 | |
| MCDDetector=PETR, Calibration Type=Sample-based2026.05 | 35.878 | 42.135 | 34.356 | 36.9 | 44.23 |