🦁 Model checkpoint
and config
are listed below:
Model | NDS | mAP | mATE | mASE | mAOE | mAVE | mAAE | Clean | Corrupt | Ckpt |
---|---|---|---|---|---|---|---|---|---|---|
BEVFormer-Small | 0.4787 | 0.3700 | 0.7212 | 0.2792 | 0.4065 | 0.4364 | 0.2201 | config | config | ckpt |
BEVFormer-Small w/o temp | 0.2622 | 0.1324 | 0.9352 | 0.3024 | 0.5556 | 1.1106 | 0.2466 | config | config | ckpt |
BEVFormer-Base | 0.5174 | 0.4164 | 0.6726 | 0.2734 | 0.3704 | 0.3941 | 0.1974 | config | config | ckpt |
BEVFormer-Base w/o temp | 0.4129 | 0.3461 | 0.7549 | 0.2832 | 0.4520 | 0.8917 | 0.2194 | config | config | ckpt |
DETR | 0.4224 | 0.3468 | 0.7647 | 0.2678 | 0.3917 | 0.8754 | 0.2108 | config | config | ckpt |
DETR w cbgs | 0.4341 | 0.3494 | 0.7163 | 0.2682 | 0.3798 | 0.8421 | 0.1997 | config | config | ckpt |
PETR-r50-p4 | 0.3665 | 0.3174 | 0.8397 | 0.2796 | 0.6158 | 0.9543 | 0.2326 | config | config | ckpt |
PETR-vov-p4 | 0.4550 | 0.4035 | 0.7362 | 0.2710 | 0.4316 | 0.8249 | 0.2039 | config | config | ckpt |
BEVDet-R50 | 0.3770 | 0.2987 | 0.7336 | 0.2744 | 0.5713 | 0.9051 | 0.2394 | config | config | ckpt |
BEVDet-R101# | 0.3877 | 0.3008 | 0.7035 | 0.2752 | 0.5384 | 0.8715 | 0.2379 | config | config | ckpt |
BEVDet-R101 w pretrain# | 0.3780 | 0.2846 | 0.7274 | 0.2796 | 0.5517 | 0.8581 | 0.2264 | config | config | ckpt |
BEVDet-Tiny | 0.4037 | 0.3080 | 0.6648 | 0.2729 | 0.5323 | 0.8278 | 0.2050 | config | config | ckpt |
BEVDepth-R50 | 0.4058 | 0.3328 | 0.6633 | 0.2714 | 0.5581 | 0.8763 | 0.2369 | config | config | ckpt |
BEVerse-Tiny | 0.4665 | 0.3214 | 0.6807 | 0.2782 | 0.4657 | 0.3281 | 0.1893 | config | config | ckpt |
BEVerse-Tiny w/o Temp | 0.1603 | 0.0826 | 0.8298 | 0.5296 | 0.8771 | 1.2639 | 0.5739 | config | config | ckpt |
BEVerse-Small | 0.4951 | 0.3512 | 0.6243 | 0.2694 | 0.3999 | 0.3292 | 0.1827 | config | config | ckpt |
BEVerse-Small w/o Temp | 0.2682 | 0.1513 | 0.6631 | 0.4228 | 0.5406 | 1.3996 | 0.4483 | config | config | ckpt |
ORA3D | 0.4436 | 0.3677 | 0.7319 | 0.2698 | 0.3890 | 0.8150 | 0.1975 | config | config | ckpt |
PolarFormer-R101 w aug | 0.4585 | 0.3959 | 0.7000 | 0.2696 | 0.3742 | 0.8396 | 0.2113 | config | config | ckpt |
PolarFormer-R101 | 0.4602 | 0.3916 | 0.7060 | 0.2718 | 0.3610 | 0.8079 | 0.2093 | config | config | ckpt |
PolarFormer-Vov* | 0.5616 | 0.5004 | 0.5826 | 0.2621 | 0.2473 | 0.6015 | 0.1926 | config | config | ckpt |
PolarFormer-Vov# | 0.4558 | 0.4028 | 0.7097 | 0.2690 | 0.4019 | 0.8682 | 0.2072 | config | config | ckpt |
SRCN3D-R101 | 0.4286 | 0.3373 | 0.7783 | 0.2873 | 0.3665 | 0.7806 | 0.1878 | config | config | ckpt |
SRCN3D-Vov* | 0.4746 | 0.3960 | 0.7375 | 0.2939 | 0.2773 | 0.7281 | 0.1974 | config | config | ckpt |
SRCN3D-Vov# | 0.4205 | 0.3475 | 0.7855 | 0.2994 | 0.4099 | 0.8352 | 0.2030 | config | config | ckpt |
Sparse4D | 0.5438 | 0.4409 | 0.6282 | 0.2721 | 0.3853 | 0.2922 | 0.1888 | config | config | ckpt |
SOLOFusion-Short | 0.3907 | 0.3438 | 0.6691 | 0.2809 | 0.6638 | 0.8803 | 0.3180 | config | config | ckpt |
SOLOFusion-Long | 0.4850 | 0.3862 | 0.6292 | 0.2840 | 0.6387 | 0.3151 | 0.2141 | config | config | ckpt |
SOLOFusion | 0.5381 | 0.4299 | 0.5842 | 0.2747 | 0.4564 | 0.2426 | 0.2103 | config | config | ckpt |
Symbol * means the model used DD3D pre-train weight, which uses the nuScenes validation set. This might cause unfair comparison. For more information please refer to megvii-research/PETR#75 and megvii-research/PETR#80.
Symbol # means our re-implement models.