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Waymo Open Dataset

Benchmarks

Task NameDataset NameSOTA ResultTrend
3D Object DetectionWaymo Open Dataset (val)
3D APH Vehicle L275.31
175
3D Object DetectionWaymo Open Dataset (test)
Vehicle L2 mAPH86.95
105
Semantic SegmentationWaymo Open Dataset (val)
mIoU73.9
63
3D Object DetectionWaymo Open Dataset (WOD) (val)
Vehicle L1 mAP84.5
47
3D Object DetectionWaymo Open Dataset LEVEL_2 (val)
3D AP (Overall)77.1
46
3D Object DetectionWaymo Open Dataset LEVEL_1 (val)
3D AP83.81
46
3D Object DetectionWaymo Open Dataset Level 2
mAPH (L2)69.23
35
3D Object Detection (Vehicle)Waymo Open Dataset LEVEL_1 (val)
3D AP Overall77.32
34
3D Object DetectionWaymo Open Dataset 1.2 (val)
Vehicle mAP H L272.5
32
3D Object Detection (Vehicle)Waymo Open Dataset LEVEL_2 (val)
3D AP (Overall)69.68
31
3D Object DetectionWaymo Open Dataset 0.2 labeled (val)
Vehicle 3D AP (L1)80.77
29
3D Vehicle DetectionWaymo Open Dataset v1.2 (val)
L1 3D mAP78.12
29
Vehicle DetectionWaymo Open Dataset LEVEL_1 v1.2 (val)
3D AP78.79
28
3D Object DetectionWaymo Open Dataset (WOD) (val)
Vehicle L1 3D AP86.3
27
Monocular 3D Object DetectionWaymo Open Dataset 79 (val)
AP@0.5 (3D, L1)1,646
24
3D Object DetectionWaymo Open Dataset v1.4 (val)
AP Vehicle (L1)80.8
23
Vehicle DetectionWaymo Open Dataset LEVEL_2 v1.2 (val)
3D AP0.7026
22
LiDAR Scene Flow EstimationWaymo Open Dataset 1.0 (val)
Dynamic Foreground EPE (m)0.0799
21
Multi-Object TrackingWaymo Open Dataset (WOD) Level 2 (test)
MOTA91.59
21
Multi-Object TrackingWaymo Open Dataset (WOD) Level 1 (test)
MOTA92.17
21
3D Object Detection (Pedestrian)Waymo Open Dataset (WOD) v1.2 (val)
mAP L189.54
20
3D Object DetectionWaymo Open Dataset v1.2 (PTPM split protocol)
Overall 3D AP66.4
18
3D Object Detection (Vehicle)Waymo Open Dataset (val)
3D AP L189.49
14
Motion PredictionWaymo Open Dataset leaderboard (test)
mAP46.65
13
3D Object DetectionWaymo Open Dataset Vehicles (val)
L1 AP70.3
13
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