2D Object Detection 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