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3D Object Detection research benchmarks – Page 22 · SOTA2 Research

3D Object Detection

Benchmarks

Dataset NameSOTA MethodSort

Dataset NameSOTA methodMetricTrendResultsLast Updated

Waymo Open Dataset (WOD) (val)

45.663D Recall (IoU=0.3)

4

Feb 26, 2026

View-of-Delft (VoD) 4D millimeter-wave radar (val)

41.7AP (Car) - Entire Area

4

Feb 26, 2026

SUN-RGBD common categories

38.8AP3D

4

Feb 26, 2026

PanoContext-Former

0.637Cabinet AP

4

Feb 26, 2026

30.7mAP

4

Feb 26, 2026

WOD 100% training data (test)

OcTr (PV-RCNN++)

81.7Vehicle L1 mAP

4

Feb 26, 2026

nuScenes 1/7 train for ablation (val)

0.596mAP

4

Feb 26, 2026

ScanNet SL3D (val)

20.3mAP@0.25

4

Feb 26, 2026

JRDB 2019 (test)

0.743AP@0.3

4

Feb 26, 2026

nuScenes Daytime (val)

68mAP

4

Feb 26, 2026

0.4MAE (0-20m)

4

Feb 26, 2026

DAIR-V2X-I 1.0 (test)

71.47AP Vehicle (Easy, IoU=0.5)

4

Feb 26, 2026

DAIR-V2X-V (test)

69.86AP (Vehicle, IoU=0.5, Easy)

4

Feb 26, 2026

Waymo Open Dataset

87.4SDE-APD

4

Feb 26, 2026

Waymo Open Dataset

0.874SDE-APD

4

Feb 26, 2026

19.01AP@0.15 (Overall)

4

Feb 26, 2026

Waymo Open Vehicle Level 2 (test)

0.778mAPH

4

Feb 26, 2026

KITTI MV3D (val)

94.8AP3D (IoU=0.5, Easy)

4

Feb 26, 2026

KITTI Cyclist new (40 recall positions) (test)

47.4AP3D Easy

4

Feb 26, 2026

KITTI Pedestrian new (40 recall positions) (test)

33.22AP3D (Easy)

4

Feb 26, 2026

41.3Mean AP

4

Feb 26, 2026

KITTI official (val1)

47.88AP3D (IoU=0.5, Easy)

4

Feb 26, 2026

K-Radar (Normal weather)

67.183D mAP

4

Feb 26, 2026

K-Radar Adverse weather

75.93D mAP

4

Feb 26, 2026

K-Radar All weather conditions

74.033D mAP

4

Feb 26, 2026

Page 22 of 25

Popular datasets

KITTI nuScenes Waymo Open Dataset DAIR-V2X ScanNet

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