2D Classification on nuScenes Camera Only

Metric: NDS (higher is better)

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#	Model↕	NDS▼	Augmentations	Paper	Date↕	Code
1	Far3D	68.7	No	Far3D: Expanding the Horizon for Surround-view 3...	2023-08-18	Code
2	RayDN	68.6	No	Ray Denoising: Depth-aware Hard Negative Samplin...	2024-02-06	Code
3	HoP	68.5	No	Temporal Enhanced Training of Multi-view 3D Obje...	2023-04-03	Code
4	StreamPETR-Large	67.6	No	Exploring Object-Centric Temporal Modeling for E...	2023-03-21	Code
5	SparseBEV (V2-99)	67.5	No	SparseBEV: High-Performance Sparse 3D Object Det...	2023-08-18	Code
6	VCD-A	67.2	No	Leveraging Vision-Centric Multi-Modal Expertise ...	2023-10-24	Code
7	GeoBEV (V2-99)	66.2	No	GeoBEV: Learning Geometric BEV Representation fo...	2024-09-03	Code
8	BEVFormer v2 (InternImage-XL)	63.4	No	BEVFormer v2: Adapting Modern Image Backbones to...	2022-11-18	Code
9	CAPE	62.8	No	CAPE: Camera View Position Embedding for Multi-V...	2023-03-17	Code
10	SA-BEV	62.4	No	SA-BEV: Generating Semantic-Aware Bird's-Eye-Vie...	2023-07-21	Code
11	SOLOFusion-pure	61.9	No	Time Will Tell: New Outlooks and A Baseline for ...	2022-10-05	Code
12	BEVStereo	61	No	BEVStereo: Enhancing Depth Estimation in Multi-v...	2022-09-21	Code
13	BEVDepth-pure	60.9	No	BEVDepth: Acquisition of Reliable Depth for Mult...	2022-06-21	Code
14	SeaBird	59.7	No	SeaBird: Segmentation in Bird's View with Dice L...	2024-03-29	Code
15	BEVDistill	59.4	No	BEVDistill: Cross-Modal BEV Distillation for Mul...	2022-11-17	Code
16	PETRv2-pure	59.2	No	PETRv2: A Unified Framework for 3D Perception fr...	2022-06-02	Code
17	PolarFormer	57.2	No	PolarFormer: Multi-camera 3D Object Detection wi...	2022-06-30	Code
18	BEVDet4D	56.9	No	BEVDet4D: Exploit Temporal Cues in Multi-camera ...	2022-03-31	Code
19	BEVFormer	56.9	No	BEVFormer: Learning Bird's-Eye-View Representati...	2022-03-31	Code

#1Far3DSOTA
68.7
NDS· 2023-08-18
Far3D: Expanding the Horizon for Surround-view 3D Object Detection Code
#2RayDN
68.6
NDS· 2024-02-06
Ray Denoising: Depth-aware Hard Negative Sampling for Multi-view 3D Object Detection Code
#3HoPSOTA
68.5
NDS· 2023-04-03
Temporal Enhanced Training of Multi-view 3D Object Detector via Historical Object Prediction Code
#4StreamPETR-LargeSOTA
67.6
NDS· 2023-03-21
Exploring Object-Centric Temporal Modeling for Efficient Multi-View 3D Object Detection Code
#5SparseBEV (V2-99)
67.5
NDS· 2023-08-18
SparseBEV: High-Performance Sparse 3D Object Detection from Multi-Camera Videos Code
#6VCD-A
67.2
NDS· 2023-10-24
Leveraging Vision-Centric Multi-Modal Expertise for 3D Object Detection Code
#7GeoBEV (V2-99)
66.2
NDS· 2024-09-03
GeoBEV: Learning Geometric BEV Representation for Multi-view 3D Object Detection Code
#8BEVFormer v2 (InternImage-XL)SOTA
63.4
NDS· 2022-11-18
BEVFormer v2: Adapting Modern Image Backbones to Bird's-Eye-View Recognition via Perspective Supervision Code
#9CAPE
62.8
NDS· 2023-03-17
CAPE: Camera View Position Embedding for Multi-View 3D Object Detection Code
#10SA-BEV
62.4
NDS· 2023-07-21
SA-BEV: Generating Semantic-Aware Bird's-Eye-View Feature for Multi-view 3D Object Detection Code
#11SOLOFusion-pureSOTA
61.9
NDS· 2022-10-05
Time Will Tell: New Outlooks and A Baseline for Temporal Multi-View 3D Object Detection Code
#12BEVStereoSOTA
61
NDS· 2022-09-21
BEVStereo: Enhancing Depth Estimation in Multi-view 3D Object Detection with Dynamic Temporal Stereo Code
#13BEVDepth-pureSOTA
60.9
NDS· 2022-06-21
BEVDepth: Acquisition of Reliable Depth for Multi-view 3D Object Detection Code
#14SeaBird
59.7
NDS· 2024-03-29
SeaBird: Segmentation in Bird's View with Dice Loss Improves Monocular 3D Detection of Large Objects Code
#15BEVDistill
59.4
NDS· 2022-11-17
BEVDistill: Cross-Modal BEV Distillation for Multi-View 3D Object Detection Code
#16PETRv2-pureSOTA
59.2
NDS· 2022-06-02
PETRv2: A Unified Framework for 3D Perception from Multi-Camera Images Code
#17PolarFormer
57.2
NDS· 2022-06-30
PolarFormer: Multi-camera 3D Object Detection with Polar Transformer Code
#18BEVDet4DSOTA
56.9
NDS· 2022-03-31
BEVDet4D: Exploit Temporal Cues in Multi-camera 3D Object Detection Code
#19BEVFormer
56.9
NDS· 2022-03-31
BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformers Code