基于OpenPCDet框架的基线模型下载及性能评估

本文主要是介绍基于OpenPCDet框架的基线模型下载及性能评估，对大家解决编程问题具有一定的参考价值，需要的程序猿们随着小编来一起学习吧！

目录

文章目录

• • 基于OpenPCDet框架的基线模型下载及性能评估
  • • 基线模型权重下载
    • 基线模型性能
    • • PointPillar
      • SECOND
      • SECOND-IOU
      • PointRCNN
      • PointRCNN-IOU
      • PartA2 Net
      • PartA2-free
      • PV-RCNN
      • Voxel-R-CNN
      • CT3D_CAR
      • CT3D_3CAT

基于OpenPCDet框架的基线模型下载及性能评估

  OpenPCDet官方提供的基线模型下载链接是放在google drive上（需要梯子），现已上传百度云供各位同学学习交流，包括PointPillars、SECOND、PointRCNN、Part A^2 Net、PV-RCNN、VoxelRCNN、CaDDN (Mono)、CT3D。另外OpenPCDet主页中展示的baseline结果还是基于老版本的@R11结果，这里笔者也贴出更为详细的评估结果（包括不同的iou阈值和Recall point）供大家参考。其中，CT3D模型的是从官方Github中下载，模型结果是将代码融入OpenPCDet后跑出的结果。

基线模型权重下载

• 百度云永久下载链接，提取码：cgaw

• 网盘内容如下：

  [外链图片转存失败,源站可能有防盗链机制,建议将图片保存下来直接上传(img-bBH1g08m-1640873235950)(Assets/OpenPCDet pre-trained model.assets/image-20211230220042403.png)]

基线模型性能

PointPillar

2021-06-01 16:49:50,983 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:90.7786, 89.8062, 88.7936
bev AP:89.6590, 87.1725, 84.3762
3d AP:86.4617, 77.2839, 74.6530
aos AP:90.77, 89.61, 88.47
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:95.6607, 92.2403, 91.3167
bev AP:92.0399, 88.0556, 86.6625
3d AP:87.7518, 78.3964, 75.1843
aos AP:95.64, 92.03, 90.97
Car AP@0.70, 0.50, 0.50:
bbox AP:90.7786, 89.8062, 88.7936
bev AP:90.7894, 90.1848, 89.4635
3d AP:90.7894, 90.0675, 89.2495
aos AP:90.77, 89.61, 88.47
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:95.6607, 92.2403, 91.3167
bev AP:95.6987, 94.7077, 93.9983
3d AP:95.6874, 94.3709, 93.4244
aos AP:95.64, 92.03, 90.97
Pedestrian AP@0.50, 0.50, 0.50:
bbox AP:66.5436, 62.4922, 59.3026
bev AP:61.6348, 56.2747, 52.6007
3d AP:57.7500, 52.2916, 47.9072
aos AP:48.63, 45.62, 42.93
Pedestrian AP_R40@0.50, 0.50, 0.50:
bbox AP:66.5852, 62.4351, 58.8016
bev AP:61.5971, 56.0143, 52.0457
3d AP:57.3015, 51.4145, 46.8715
aos AP:45.89, 42.99, 40.03
Pedestrian AP@0.50, 0.25, 0.25:
bbox AP:66.5436, 62.4922, 59.3026
bev AP:72.5064, 69.5191, 66.4626
3d AP:72.4368, 69.3244, 65.3180
aos AP:48.63, 45.62, 42.93
Pedestrian AP_R40@0.50, 0.25, 0.25:
bbox AP:66.5852, 62.4351, 58.8016
bev AP:73.8776, 70.4969, 66.6494
3d AP:73.7943, 70.2258, 66.0435
aos AP:45.89, 42.99, 40.03
Cyclist AP@0.50, 0.50, 0.50:
bbox AP:85.2661, 72.9744, 68.9914
bev AP:82.2716, 66.2565, 62.6405
3d AP:80.0568, 62.6873, 59.7069
aos AP:84.72, 71.09, 67.13
Cyclist AP_R40@0.50, 0.50, 0.50:
bbox AP:88.5723, 74.0385, 69.8009
bev AP:85.2713, 66.3460, 62.3646
3d AP:81.5782, 62.9381, 58.9814
aos AP:87.91, 71.98, 67.81
Cyclist AP@0.50, 0.25, 0.25:
bbox AP:85.2661, 72.9744, 68.9914
bev AP:86.6035, 70.6055, 66.9244
3d AP:86.6035, 70.6055, 66.9244
aos AP:84.72, 71.09, 67.13
Cyclist AP_R40@0.50, 0.25, 0.25:
bbox AP:88.5723, 74.0385, 69.8009
bev AP:88.8812, 71.7453, 67.7714
3d AP:88.8812, 71.7453, 67.7714
aos AP:87.91, 71.98, 67.81

SECOND

2021-06-01 16:27:49,125 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:90.7803, 89.8999, 89.0433
bev AP:90.0097, 87.9282, 86.4528
3d AP:88.6137, 78.6245, 77.2243
aos AP:90.76, 89.77, 88.82
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:95.6261, 94.1728, 91.7683
bev AP:92.4184, 88.5586, 87.6479
3d AP:90.5534, 81.6116, 78.6108
aos AP:95.59, 94.01, 91.52
Car AP@0.70, 0.50, 0.50:
bbox AP:90.7803, 89.8999, 89.0433
bev AP:90.7940, 90.1441, 89.5173
3d AP:90.7940, 90.0886, 89.4014
aos AP:90.76, 89.77, 88.82
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:95.6261, 94.1728, 91.7683
bev AP:95.6751, 94.8476, 94.2478
3d AP:95.6623, 94.7450, 94.0537
aos AP:95.59, 94.01, 91.52
Pedestrian AP@0.50, 0.50, 0.50:
bbox AP:68.7347, 66.3279, 63.2579
bev AP:61.9979, 56.6604, 53.8126
3d AP:56.5544, 52.9835, 47.7343
aos AP:64.66, 61.76, 58.45
Pedestrian AP_R40@0.50, 0.50, 0.50:
bbox AP:69.5228, 66.4894, 62.8409
bev AP:60.7329, 56.5680, 52.1375
3d AP:55.9413, 51.1434, 46.1661
aos AP:64.91, 61.28, 57.51
Pedestrian AP@0.50, 0.25, 0.25:
bbox AP:68.7347, 66.3279, 63.2579
bev AP:75.3555, 73.8473, 69.7569
3d AP:75.3437, 73.7890, 69.6610
aos AP:64.66, 61.76, 58.45
Pedestrian AP_R40@0.50, 0.25, 0.25:
bbox AP:69.5228, 66.4894, 62.8409
bev AP:76.3102, 74.7104, 70.8022
3d AP:76.3025, 74.5821, 70.7215
aos AP:64.91, 61.28, 57.51
Cyclist AP@0.50, 0.50, 0.50:
bbox AP:87.5600, 77.0909, 74.3813
bev AP:84.0183, 70.7012, 65.4772
3d AP:80.5862, 67.1589, 63.1087
aos AP:87.42, 76.74, 74.00
Cyclist AP_R40@0.50, 0.50, 0.50:
bbox AP:91.4087, 79.0226, 75.4018
bev AP:88.0461, 71.1604, 66.8949
3d AP:82.9640, 66.7401, 62.7843
aos AP:91.25, 78.61, 74.96
Cyclist AP@0.50, 0.25, 0.25:
bbox AP:87.5600, 77.0909, 74.3813
bev AP:86.0192, 76.8489, 72.3789
3d AP:86.0192, 76.8489, 72.3770
aos AP:87.42, 76.74, 74.00
Cyclist AP_R40@0.50, 0.25, 0.25:
bbox AP:91.4087, 79.0226, 75.4018
bev AP:90.2814, 77.2718, 73.5534
3d AP:90.2814, 77.2718, 73.5507
aos AP:91.25, 78.61, 74.96

SECOND-IOU

Car AP@0.70, 0.70, 0.70:
bbox AP:89.7310, 88.8442, 88.5237
bev AP:87.9080, 86.0925, 85.3315
3d AP:84.9374, 76.3029, 75.9794
aos AP:89.72, 88.73, 88.33
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:94.6412, 93.1969, 91.1178
bev AP:90.2307, 86.6130, 86.3666
3d AP:86.7701, 79.2383, 77.1712
aos AP:94.62, 93.06, 90.90
Car AP@0.70, 0.50, 0.50:
bbox AP:89.7310, 88.8442, 88.5237
bev AP:89.8455, 92.4825, 88.7309
3d AP:89.8455, 88.9443, 88.6950
aos AP:89.72, 88.73, 88.33
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:94.6412, 93.1969, 91.1178
bev AP:94.7744, 94.6186, 93.4341
3d AP:94.7605, 93.5132, 93.3093
aos AP:94.62, 93.06, 90.90
Pedestrian AP@0.50, 0.50, 0.50:
bbox AP:52.6865, 50.1583, 48.8715
bev AP:41.8535, 38.3748, 36.5096
3d AP:37.2133, 34.9030, 32.1629
aos AP:48.68, 46.20, 44.69
Pedestrian AP_R40@0.50, 0.50, 0.50:
bbox AP:51.2331, 48.3135, 46.9592
bev AP:40.6510, 37.6296, 35.3592
3d AP:36.4529, 33.5773, 31.1669
aos AP:46.64, 43.80, 42.16
Pedestrian AP@0.50, 0.25, 0.25:
bbox AP:52.6865, 50.1583, 48.8715
bev AP:55.4892, 54.5069, 53.4370
3d AP:55.2917, 54.0297, 53.0834
aos AP:48.68, 46.20, 44.69
Pedestrian AP_R40@0.50, 0.25, 0.25:
bbox AP:51.2331, 48.3135, 46.9592
bev AP:54.4850, 53.4042, 51.6815
3d AP:54.3276, 52.6700, 51.2269
aos AP:46.64, 43.80, 42.16
Cyclist AP@0.50, 0.50, 0.50:
bbox AP:87.5935, 77.1372, 73.2886
bev AP:84.6328, 66.8497, 63.4334
3d AP:80.4156, 64.2871, 60.1949
aos AP:87.18, 76.37, 72.42
Cyclist AP_R40@0.50, 0.50, 0.50:
bbox AP:89.8793, 77.8317, 74.4593
bev AP:86.4513, 67.7293, 63.3873
3d AP:83.1886, 63.7514, 60.2384
aos AP:89.44, 77.03, 73.53
Cyclist AP@0.50, 0.25, 0.25:
bbox AP:87.5935, 77.1372, 73.2886
bev AP:85.2713, 71.9390, 67.7767
3d AP:85.2713, 71.9390, 67.7767
aos AP:87.18, 76.37, 72.42
Cyclist AP_R40@0.50, 0.25, 0.25:
bbox AP:89.8793, 77.8317, 74.4593
bev AP:87.2239, 72.4660, 68.5129
3d AP:87.2239, 72.4660, 68.5129
aos AP:89.44, 77.03, 73.53

PointRCNN

Car AP@0.70, 0.70, 0.70:
bbox AP:90.7616, 89.6853, 89.2185
bev AP:89.9477, 87.4570, 86.4615
3d AP:88.9540, 78.7692, 77.8610
aos AP:90.75, 89.58, 89.06
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:96.5055, 92.8954, 90.5563
bev AP:94.8319, 88.9852, 86.7817
3d AP:91.8103, 80.7014, 78.2252
aos AP:96.48, 92.77, 90.39
Car AP@0.70, 0.50, 0.50:
bbox AP:90.7616, 89.6853, 89.2185
bev AP:90.7127, 89.8550, 89.5995
3d AP:90.7127, 89.8205, 89.5362
aos AP:90.75, 89.58, 89.06
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:96.5055, 92.8954, 90.5563
bev AP:96.5127, 95.1886, 92.9610
3d AP:96.4911, 95.0387, 92.8563
aos AP:96.48, 92.77, 90.39
Pedestrian AP@0.50, 0.50, 0.50:
bbox AP:73.1529, 65.9925, 62.2651
bev AP:67.4386, 61.0389, 54.3673
3d AP:62.0916, 55.0153, 50.5909
aos AP:71.45, 63.79, 59.83
Pedestrian AP_R40@0.50, 0.50, 0.50:
bbox AP:74.5852, 67.9351, 61.2446
bev AP:66.8374, 60.4219, 53.6158
3d AP:62.1087, 55.5548, 48.8315
aos AP:72.69, 65.37, 58.63
Pedestrian AP@0.50, 0.25, 0.25:
bbox AP:73.1529, 65.9925, 62.2651
bev AP:81.5742, 75.2328, 67.3627
3d AP:81.5590, 75.1442, 67.3395
aos AP:71.45, 63.79, 59.83
Pedestrian AP_R40@0.50, 0.25, 0.25:
bbox AP:74.5852, 67.9351, 61.2446
bev AP:82.5933, 76.6212, 69.2467
3d AP:82.5801, 76.5010, 69.1640
aos AP:72.69, 65.37, 58.63
Cyclist AP@0.50, 0.50, 0.50:
bbox AP:89.6332, 77.2558, 75.3246
bev AP:88.6370, 74.6280, 68.0659
3d AP:87.5024, 72.5263, 66.4761
aos AP:89.56, 76.71, 74.79
Cyclist AP_R40@0.50, 0.50, 0.50:
bbox AP:95.1713, 79.2367, 74.6743
bev AP:93.9149, 76.1884, 70.3903
3d AP:92.5096, 71.8916, 67.4811
aos AP:95.08, 78.65, 74.12
Cyclist AP@0.50, 0.25, 0.25:
bbox AP:89.6332, 77.2558, 75.3246
bev AP:89.0940, 75.2956, 73.1744
3d AP:89.0940, 75.2956, 73.1744
aos AP:89.56, 76.71, 74.79
Cyclist AP_R40@0.50, 0.25, 0.25:
bbox AP:95.1713, 79.2367, 74.6743
bev AP:94.4755, 77.1037, 72.5095
3d AP:94.4755, 77.1037, 72.5095
aos AP:95.08, 78.65, 74.12

PointRCNN-IOU

2021-06-01 17:10:32,285 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:96.1326, 89.4395, 89.0779
bev AP:90.1395, 87.5682, 86.0145
3d AP:89.0141, 78.8110, 78.2536
aos AP:96.10, 89.37, 88.93
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:98.1362, 92.4012, 90.1729
bev AP:95.0269, 88.8252, 86.7463
3d AP:91.8673, 80.7056, 78.4160
aos AP:98.11, 92.32, 90.03
Car AP@0.70, 0.50, 0.50:
bbox AP:96.1326, 89.4395, 89.0779
bev AP:96.2493, 89.5161, 89.3216
3d AP:96.1803, 89.4931, 89.2770
aos AP:96.10, 89.37, 88.93
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:98.1362, 92.4012, 90.1729
bev AP:98.2241, 94.6121, 92.5023
3d AP:98.1951, 94.4806, 92.4132
aos AP:98.11, 92.32, 90.03
Pedestrian AP@0.50, 0.50, 0.50:
bbox AP:74.7897, 66.8113, 62.5015
bev AP:68.6832, 60.0288, 55.2210
3d AP:62.9755, 57.6519, 52.2840
aos AP:70.13, 62.19, 57.95
Pedestrian AP_R40@0.50, 0.50, 0.50:
bbox AP:75.9033, 68.5984, 63.1169
bev AP:68.2838, 60.3093, 54.0850
3d AP:64.6186, 56.9315, 50.6679
aos AP:70.57, 63.01, 57.67
Pedestrian AP@0.50, 0.25, 0.25:
bbox AP:74.7897, 66.8113, 62.5015
bev AP:81.0519, 74.8975, 67.3473
3d AP:81.0454, 74.8599, 67.3149
aos AP:70.13, 62.19, 57.95
Pedestrian AP_R40@0.50, 0.25, 0.25:
bbox AP:75.9033, 68.5984, 63.1169
bev AP:82.2058, 75.8315, 69.0048
3d AP:82.2301, 75.7365, 68.9050
aos AP:70.57, 63.01, 57.67
Cyclist AP@0.50, 0.50, 0.50:
bbox AP:89.6087, 77.7412, 74.4948
bev AP:87.2591, 74.1335, 71.4929
3d AP:85.9699, 70.9662, 66.1421
aos AP:89.46, 76.85, 73.65
Cyclist AP_R40@0.50, 0.50, 0.50:
bbox AP:95.5675, 79.2431, 74.5656
bev AP:92.5964, 75.4050, 70.9068
3d AP:90.9614, 72.1229, 67.6639
aos AP:95.38, 78.28, 73.65
Cyclist AP@0.50, 0.25, 0.25:
bbox AP:89.6087, 77.7412, 74.4948
bev AP:88.9878, 75.8303, 72.7988
3d AP:88.9878, 75.8303, 72.7988
aos AP:89.46, 76.85, 73.65
Cyclist AP_R40@0.50, 0.25, 0.25:
bbox AP:95.5675, 79.2431, 74.5656
bev AP:94.6585, 77.2679, 72.6723
3d AP:94.6585, 77.2679, 72.6723
aos AP:95.38, 78.28, 73.65

PartA2 Net

2021-06-01 17:03:56,291 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:94.7748, 89.3073, 89.0406
bev AP:90.2249, 87.9575, 87.5484
3d AP:89.5582, 79.4064, 78.8429
aos AP:94.71, 89.15, 88.82
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:97.8826, 93.7730, 91.7670
bev AP:92.9012, 90.0642, 88.3510
3d AP:92.1511, 82.9106, 81.9977
aos AP:97.82, 93.58, 91.51
Car AP@0.70, 0.50, 0.50:
bbox AP:94.7748, 89.3073, 89.0406
bev AP:94.7547, 89.3059, 89.0925
3d AP:94.7077, 89.2728, 89.0355
aos AP:94.71, 89.15, 88.82
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:97.8826, 93.7730, 91.7670
bev AP:97.8110, 93.9588, 93.9089
3d AP:97.7887, 93.8800, 93.7520
aos AP:97.82, 93.58, 91.51
Pedestrian AP@0.50, 0.50, 0.50:
bbox AP:76.0807, 71.5235, 67.6182
bev AP:70.5996, 64.0578, 59.9748
3d AP:65.6892, 60.0500, 55.4494
aos AP:74.00, 68.92, 64.76
Pedestrian AP_R40@0.50, 0.50, 0.50:
bbox AP:76.5134, 72.2418, 68.8811
bev AP:70.5310, 64.1972, 59.2461
3d AP:66.8890, 59.6784, 54.6240
aos AP:74.24, 69.40, 65.65
Pedestrian AP@0.50, 0.25, 0.25:
bbox AP:76.0807, 71.5235, 67.6182
bev AP:78.6060, 75.2669, 72.7024
3d AP:78.6658, 75.1838, 72.5445
aos AP:74.00, 68.92, 64.76
Pedestrian AP_R40@0.50, 0.25, 0.25:
bbox AP:76.5134, 72.2418, 68.8811
bev AP:81.2031, 77.3362, 73.6710
3d AP:81.2751, 77.1333, 73.4641
aos AP:74.24, 69.40, 65.65
Cyclist AP@0.50, 0.50, 0.50:
bbox AP:89.0268, 77.4112, 76.1091
bev AP:86.9221, 73.3521, 70.7766
3d AP:85.5048, 69.9044, 65.4865
aos AP:88.87, 77.04, 75.68
Cyclist AP_R40@0.50, 0.50, 0.50:
bbox AP:94.3216, 80.2885, 77.5140
bev AP:91.9560, 74.6358, 70.6339
3d AP:90.3400, 70.1362, 66.9292
aos AP:94.12, 79.86, 77.06
Cyclist AP@0.50, 0.25, 0.25:
bbox AP:89.0268, 77.4112, 76.1091
bev AP:87.4839, 77.8448, 73.2795
3d AP:87.4839, 77.8427, 73.2524
aos AP:88.87, 77.04, 75.68
Cyclist AP_R40@0.50, 0.25, 0.25:
bbox AP:94.3216, 80.2885, 77.5140
bev AP:92.3894, 78.3787, 75.4342
3d AP:92.3858, 78.3755, 75.4149
aos AP:94.12, 79.86, 77.06

PartA2-free

2021-06-01 17:18:56,962 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:90.7064, 89.1032, 88.7695
bev AP:90.0969, 86.7886, 84.5979
3d AP:89.1192, 78.7253, 77.9830
aos AP:90.68, 89.00, 88.64
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:95.9395, 91.7175, 89.6303
bev AP:92.8412, 88.1545, 86.1618
3d AP:91.6842, 80.3118, 78.1013
aos AP:95.90, 91.61, 89.50
Car AP@0.70, 0.50, 0.50:
bbox AP:90.7064, 89.1032, 88.7695
bev AP:90.6940, 89.3172, 89.1733
3d AP:90.6907, 89.2826, 89.1190
aos AP:90.68, 89.00, 88.64
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:95.9395, 91.7175, 89.6303
bev AP:95.9649, 94.0122, 93.6627
3d AP:95.9425, 93.8626, 91.9144
aos AP:95.90, 91.61, 89.50
Pedestrian AP@0.50, 0.50, 0.50:
bbox AP:80.2816, 75.6527, 71.7540
bev AP:74.8279, 69.3140, 64.5455
3d AP:70.3085, 65.9922, 60.4777
aos AP:78.93, 74.03, 69.88
Pedestrian AP_R40@0.50, 0.50, 0.50:
bbox AP:80.8329, 76.9968, 73.3469
bev AP:75.4813, 69.8351, 64.4979
3d AP:72.3584, 66.4026, 60.0709
aos AP:79.32, 75.20, 71.20
Pedestrian AP@0.50, 0.25, 0.25:
bbox AP:80.2816, 75.6527, 71.7540
bev AP:83.7051, 82.0240, 79.0633
3d AP:83.7003, 81.9823, 78.9359
aos AP:78.93, 74.03, 69.88
Pedestrian AP_R40@0.50, 0.25, 0.25:
bbox AP:80.8329, 76.9968, 73.3469
bev AP:87.3005, 84.9858, 80.3568
3d AP:87.2962, 84.9335, 79.6124
aos AP:79.32, 75.20, 71.20
Cyclist AP@0.50, 0.50, 0.50:
bbox AP:89.4204, 81.0870, 77.1343
bev AP:88.7514, 76.2628, 73.6792
3d AP:87.6469, 74.2926, 69.9137
aos AP:89.31, 80.57, 76.60
Cyclist AP_R40@0.50, 0.50, 0.50:
bbox AP:94.0643, 82.9229, 79.0304
bev AP:93.2320, 78.4984, 73.9288
3d AP:91.9237, 75.3263, 70.5746
aos AP:93.90, 82.36, 78.47
Cyclist AP@0.50, 0.25, 0.25:
bbox AP:89.4204, 81.0870, 77.1343
bev AP:88.8460, 78.6822, 74.6989
3d AP:88.8460, 78.6822, 74.6989
aos AP:89.31, 80.57, 76.60
Cyclist AP_R40@0.50, 0.25, 0.25:
bbox AP:94.0643, 82.9229, 79.0304
bev AP:93.3543, 80.3345, 76.5469
3d AP:93.3543, 80.3345, 76.5469
aos AP:93.90, 82.36, 78.47

PV-RCNN

2021-06-01 16:24:10,134 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:96.2470, 89.4992, 89.2430
bev AP:90.0894, 87.9004, 87.4072
3d AP:89.3476, 83.6901, 78.7028
aos AP:96.22, 89.39, 89.07
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:98.2662, 94.4210, 92.2765
bev AP:93.0239, 90.3255, 88.5319
3d AP:92.1047, 84.3605, 82.4830
aos AP:98.25, 94.26, 92.07
Car AP@0.70, 0.50, 0.50:
bbox AP:96.2470, 89.4992, 89.2430
bev AP:96.2811, 89.4982, 89.2886
3d AP:96.2342, 89.4774, 89.2535
aos AP:96.22, 89.39, 89.07
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:98.2662, 94.4210, 92.2765
bev AP:98.2607, 94.5896, 94.4319
3d AP:98.2422, 94.5277, 94.3272
aos AP:98.25, 94.26, 92.07
Pedestrian AP@0.50, 0.50, 0.50:
bbox AP:73.1477, 68.0799, 64.3542
bev AP:65.1821, 59.4169, 54.5101
3d AP:63.1230, 54.8428, 51.7816
aos AP:67.84, 62.49, 58.73
Pedestrian AP_R40@0.50, 0.50, 0.50:
bbox AP:73.6837, 68.2715, 64.3622
bev AP:65.9365, 58.5166, 54.1258
3d AP:62.7110, 54.4902, 49.8798
aos AP:67.82, 62.17, 58.07
Pedestrian AP@0.50, 0.25, 0.25:
bbox AP:73.1477, 68.0799, 64.3542
bev AP:76.2555, 71.8445, 69.4931
3d AP:76.2398, 71.8001, 69.4345
aos AP:67.84, 62.49, 58.73
Pedestrian AP_R40@0.50, 0.25, 0.25:
bbox AP:73.6837, 68.2715, 64.3622
bev AP:78.2616, 73.1740, 69.9717
3d AP:78.2458, 73.0349, 69.8725
aos AP:67.82, 62.17, 58.07
Cyclist AP@0.50, 0.50, 0.50:
bbox AP:96.1222, 81.3613, 76.4936
bev AP:88.5292, 73.3251, 70.3690
3d AP:86.0637, 69.4789, 64.5046
aos AP:95.98, 81.07, 76.17
Cyclist AP_R40@0.50, 0.50, 0.50:
bbox AP:97.1514, 82.4180, 78.2196
bev AP:93.4584, 74.5322, 70.1025
3d AP:89.1011, 70.3809, 66.0168
aos AP:97.04, 82.12, 77.88
Cyclist AP@0.50, 0.25, 0.25:
bbox AP:96.1222, 81.3613, 76.4936
bev AP:95.0958, 78.2760, 73.3191
3d AP:95.0958, 78.2670, 73.3121
aos AP:95.98, 81.07, 76.17
Cyclist AP_R40@0.50, 0.25, 0.25:
bbox AP:97.1514, 82.4180, 78.2196
bev AP:96.2402, 79.1335, 75.8222
3d AP:96.2402, 79.1278, 75.7990
aos AP:97.04, 82.12, 77.88

Voxel-R-CNN

待更新

CT3D_CAR

Car AP@0.70, 0.70, 0.70:
bbox AP:98.4427, 89.5925, 89.3120
bev AP:90.4284, 88.4389, 88.0547
3d AP:89.5382, 85.4920, 78.9924
aos AP:98.41, 89.51, 89.17
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:99.1384, 95.2080, 92.8789
bev AP:96.1430, 91.7176, 89.4970
3d AP:92.8456, 85.6302, 83.3055
aos AP:99.11, 95.08, 92.71
Car AP@0.70, 0.50, 0.50:
bbox AP:98.4427, 89.5925, 89.3120
bev AP:98.4284, 89.5162, 89.2580
3d AP:98.4018, 89.4856, 89.2209
aos AP:98.41, 89.51, 89.17
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:99.1384, 95.2080, 92.8789
bev AP:99.0853, 95.1783, 94.9698
3d AP:99.0401, 95.1227, 94.8934
aos AP:99.11, 95.08, 92.71

CT3D_3CAT

Car AP@0.70, 0.70, 0.70:
bbox AP:98.0948, 89.4857, 89.1712
bev AP:90.2502, 88.1758, 87.7788
3d AP:89.1084, 85.0401, 78.7598
aos AP:98.06, 89.41, 89.04
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:98.9425, 94.9858, 92.7375
bev AP:95.9154, 91.3542, 89.2926
3d AP:92.3391, 84.9711, 82.9065
aos AP:98.91, 94.88, 92.58
Car AP@0.70, 0.50, 0.50:
bbox AP:98.0948, 89.4857, 89.1712
bev AP:98.0871, 89.4169, 89.1425
3d AP:98.0695, 89.3947, 89.1037
aos AP:98.06, 89.41, 89.04
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:98.9425, 94.9858, 92.7375
bev AP:98.8692, 94.9542, 94.7880
3d AP:98.8598, 94.9019, 94.6973
aos AP:98.91, 94.88, 92.58
Pedestrian AP@0.50, 0.50, 0.50:
bbox AP:73.0723, 69.4016, 66.8570
bev AP:64.2310, 59.8402, 55.7598
3d AP:61.7407, 56.2790, 52.5141
aos AP:69.04, 65.17, 62.02
Pedestrian AP_R40@0.50, 0.50, 0.50:
bbox AP:73.6847, 69.9239, 67.0737
bev AP:64.4088, 59.1779, 54.8622
3d AP:61.0537, 55.5750, 51.0984
aos AP:69.22, 65.19, 61.73
Pedestrian AP@0.50, 0.25, 0.25:
bbox AP:73.0723, 69.4016, 66.8570
bev AP:76.8913, 72.4136, 70.3777
3d AP:76.8213, 72.3334, 70.1651
aos AP:69.04, 65.17, 62.02
Pedestrian AP_R40@0.50, 0.25, 0.25:
bbox AP:73.6847, 69.9239, 67.0737
bev AP:77.9570, 73.8559, 71.3994
3d AP:77.8785, 73.7270, 70.7240
aos AP:69.22, 65.19, 61.73
Cyclist AP@0.50, 0.50, 0.50:
bbox AP:93.4912, 77.7671, 76.2917
bev AP:90.9435, 73.6842, 71.2105
3d AP:85.0440, 71.7085, 68.0511
aos AP:93.30, 77.56, 76.00
Cyclist AP_R40@0.50, 0.50, 0.50:
bbox AP:95.4022, 80.6753, 77.1761
bev AP:92.5957, 75.3982, 71.3149
3d AP:89.0081, 71.8798, 67.9090
aos AP:95.24, 80.43, 76.85
Cyclist AP@0.50, 0.25, 0.25:
bbox AP:93.4912, 77.7671, 76.2917
bev AP:91.9032, 77.3141, 73.3950
3d AP:91.9032, 77.3141, 73.3950
aos AP:93.30, 77.56, 76.00
Cyclist AP_R40@0.50, 0.25, 0.25:
bbox AP:95.4022, 80.6753, 77.1761
bev AP:93.7097, 78.2383, 73.9397
3d AP:93.7097, 78.2383, 73.9455
aos AP:95.24, 80.43, 76.85

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