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feat(BEVFusion): release BEVFusion 2.7.1_opt #211

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189 changes: 188 additions & 1 deletion projects/BEVFusion/docs/BEVFusion-L/v2/j6gen2_base.md
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| Model version | mAP | mAPH | car<br>(64,520) | truck<br>(6,947) | bus<br>(2,275) | bicycle<br>(1,379) | pedestrian<br>(19,421) |
| :---- | ---: | ---: | ---: | ---: | ---: | ---: | ---: |
| BEVFusion-LiDAR j6gen2_base/2.7.1 | 0.8828 | 0.8387 | 0.9022 | 0.8627 | 0.9440 | 0.8483 | 0.8569 |
| BEVFusion-LiDAR j6gen2_base/2.7.1_opt | 0.8828 | 0.8387 | 0.9022 | 0.8627 | 0.9440 | 0.8483 | 0.8569 |
| BEVFusion-LiDAR j6gen2_base/2.7.1 | 0.8828 | 0.8387 | 0.9022 | 0.8627 | 0.9440 | 0.8483 | 0.8569 |
| BEVFusion-LiDAR j6gen2_base/2.6.1 | 0.8810 | 0.8380 | 0.8873 | 0.8586 | 0.9476 | 0.8583 | 0.8534 |

</details>
Expand All @@ -74,6 +75,7 @@

| Model version | mAP | mAPH | car<br>(58,562) | truck<br>(5,101) | bus<br>(2,078) | bicycle<br>(758) | pedestrian<br>(10,283) |
| :---- | ---: | ---: | ---: | ---: | ---: | ---: | ---: |
| BEVFusion-LiDAR j6gen2_base/2.7.1_opt | 0.7193 | 0.6620 | 0.8197 | 0.6856 | 0.8249 | 0.5862 | 0.6801 |
| BEVFusion-LiDAR j6gen2_base/2.7.1 | 0.7193 | 0.6620 | 0.8197 | 0.6856 | 0.8249 | 0.5862 | 0.6801 |
| BEVFusion-LiDAR j6gen2_base/2.6.1 | 0.7032 | 0.6483 | 0.7876 | 0.6830 | 0.7911 | 0.5802 | 0.6741 |

Expand All @@ -84,6 +86,7 @@

| Model version | mAP | mAPH | car<br>(20,371) | truck<br>(3,172) | bus<br>(376) | bicycle<br>(155) | pedestrian<br>(2,794) |
| :---- | ---: | ---: | ---: | ---: | ---: | ---: | ---: |
| BEVFusion-LiDAR j6gen2_base/2.7.1_opt | 0.5223 | 0.4757 | 0.6814 | 0.5181 | 0.5381 | 0.4165 | 0.4573 |
| BEVFusion-LiDAR j6gen2_base/2.7.1 | 0.5223 | 0.4757 | 0.6814 | 0.5181 | 0.5381 | 0.4165 | 0.4573 |
| BEVFusion-LiDAR j6gen2_base/2.6.1 | 0.4938 | 0.4494 | 0.6564 | 0.5192 | 0.3777 | 0.4406 | 0.4752 |

Expand All @@ -94,6 +97,7 @@

| Model version | mAP | mAPH | car<br>(143,453) | truck<br>(15,220) | bus<br>(4,729) | bicycle<br>(2,292) | pedestrian<br>(32,498) |
| :---- | ---: | ---: | ---: | ---: | ---: | ---: | ---: |
| BEVFusion-LiDAR j6gen2_base/2.7.1_opt | 0.7990 | 0.7487 | 0.8508 | 0.7435 | 0.8711 | 0.7487 | 0.7809 |
| BEVFusion-LiDAR j6gen2_base/2.7.1 | 0.7990 | 0.7487 | 0.8508 | 0.7435 | 0.8711 | 0.7487 | 0.7809 |
| BEVFusion-LiDAR j6gen2_base/2.6.1 | 0.7903 | 0.7413 | 0.8266 | 0.7409 | 0.8510 | 0.7541 | 0.7790 |

Expand All @@ -116,6 +120,7 @@

| Model version | mAP | mAPH | car<br>(14,883) | truck<br>(1,193) | bus<br>(336) | bicycle<br>(740) | pedestrian<br>(5,059) |
| :---- | ---: | ---: | ---: | ---: | ---: | ---: | ---: |
| BEVFusion-LiDAR j6gen2_base/2.7.1_opt | 0.8947 | 0.8393 | 0.9231 | 0.8893 | 0.9564 | 0.8264 | 0.8782 |
| BEVFusion-LiDAR j6gen2_base/2.7.1 | 0.8947 | 0.8393 | 0.9231 | 0.8893 | 0.9564 | 0.8264 | 0.8782 |
| BEVFusion-LiDAR j6gen2_base/2.6.1 | 0.8985 | 0.8484 | 0.9087 | 0.8974 | 0.9636 | 0.8447 | 0.8780 |

Expand All @@ -126,6 +131,7 @@

| Model version | mAP | mAPH | car<br>(10,994) | truck<br>(1,011) | bus<br>(143) | bicycle<br>(463) | pedestrian<br>(3,754) |
| :---- | ---: | ---: | ---: | ---: | ---: | ---: | ---: |
| BEVFusion-LiDAR j6gen2_base/2.7.1_opt | 0.7679 | 0.7089 | 0.8567 | 0.7666 | 0.8723 | 0.5955 | 0.7485 |
| BEVFusion-LiDAR j6gen2_base/2.7.1 | 0.7679 | 0.7089 | 0.8567 | 0.7666 | 0.8723 | 0.5955 | 0.7485 |
| BEVFusion-LiDAR j6gen2_base/2.6.1 | 0.7475 | 0.6925 | 0.8317 | 0.7758 | 0.7910 | 0.5959 | 0.7433 |

Expand All @@ -136,6 +142,7 @@

| Model version | mAP | mAPH | car<br>(3,018) | truck<br>(602) | bus<br>(60) | bicycle<br>(85) | pedestrian<br>(1,121) |
| :---- | ---: | ---: | ---: | ---: | ---: | ---: | ---: |
| BEVFusion-LiDAR j6gen2_base/2.7.1_opt | 0.7958 | 0.7472 | 0.8408 | 0.7294 | 0.8673 | 0.7710 | 0.7706 |
| BEVFusion-LiDAR j6gen2_base/2.7.1 | 0.5924 | 0.5370 | 0.7238 | 0.6616 | 0.6305 | 0.3964 | 0.5497 |
| BEVFusion-LiDAR j6gen2_base/2.6.1 | 0.5636 | 0.5191 | 0.7125 | 0.6383 | 0.4781 | 0.4293 | 0.5595 |

Expand All @@ -146,6 +153,7 @@

| Model version | mAP | mAPH | car<br>(28,895) | truck<br>(2,806) | bus<br>(539) | bicycle<br>(1,288) | pedestrian<br>(9,934) |
| :---- | ---: | ---: | ---: | ---: | ---: | ---: | ---: |
| BEVFusion-LiDAR j6gen2_base/2.7.1_opt | 0.7958 | 0.7472 | 0.8408 | 0.7294 | 0.8673 | 0.7710 | 0.7706 |
| BEVFusion-LiDAR j6gen2_base/2.7.1 | 0.8267 | 0.7675 | 0.8888 | 0.8055 | 0.9009 | 0.7334 | 0.8051 |
| BEVFusion-LiDAR j6gen2_base/2.6.1 | 0.8198 | 0.7666 | 0.8690 | 0.8052 | 0.8756 | 0.7455 | 0.8036 |

Expand Down Expand Up @@ -174,6 +182,7 @@

| Model version | mAP | mAPH | car<br>(49,637) | truck<br>(5,754) | bus<br>(1,939) | bicycle<br>(639) | pedestrian<br>(14,362) |
| :---- | ---: | ---: | ---: | ---: | ---: | ---: | ---: |
| BEVFusion-LiDAR j6gen2_base/2.7.1_opt | 0.7958 | 0.7472 | 0.8408 | 0.7294 | 0.8673 | 0.7710 | 0.7706 |
| BEVFusion-LiDAR j6gen2_base/2.7.1 | 0.8836 | 0.8431 | 0.8942 | 0.8569 | 0.9393 | 0.8780 | 0.8494 |
| BEVFusion-LiDAR j6gen2_base/2.6.1 | 0.8788 | 0.8368 | 0.8813 | 0.8505 | 0.9427 | 0.8749 | 0.8448 |

Expand All @@ -184,6 +193,7 @@

| Model version | mAP | mAPH | car<br>(47,568) | truck<br>(4,090) | bus<br>(1,935) | bicycle<br>(295) | pedestrian<br>(6,529) |
| :---- | ---: | ---: | ---: | ---: | ---: | ---: | ---: |
| BEVFusion-LiDAR j6gen2_base/2.7.1_opt | 0.7958 | 0.7472 | 0.8408 | 0.7294 | 0.8673 | 0.7710 | 0.7706 |
| BEVFusion-LiDAR j6gen2_base/2.7.1 | 0.7040 | 0.6488 | 0.8118 | 0.6662 | 0.8221 | 0.5781 | 0.6417 |
| BEVFusion-LiDAR j6gen2_base/2.6.1 | 0.6864 | 0.6344 | 0.7772 | 0.6609 | 0.7913 | 0.5671 | 0.6357 |

Expand All @@ -194,6 +204,7 @@

| Model version | mAP | mAPH | car<br>(17,353) | truck<br>(2,570) | bus<br>(316) | bicycle<br>(70) | pedestrian<br>(1,673) |
| :---- | ---: | ---: | ---: | ---: | ---: | ---: | ---: |
| BEVFusion-LiDAR j6gen2_base/2.7.1_opt | 0.7958 | 0.7472 | 0.8408 | 0.7294 | 0.8673 | 0.7710 | 0.7706 |
| BEVFusion-LiDAR j6gen2_base/2.7.1 | 0.5030 | 0.4572 | 0.6739 | 0.4847 | 0.5186 | 0.4430 | 0.3948 |
| BEVFusion-LiDAR j6gen2_base/2.6.1 | 0.4766 | 0.4309 | 0.6465 | 0.4903 | 0.3618 | 0.4627 | 0.4214 |

Expand All @@ -204,6 +215,7 @@

| Model version | mAP | mAPH | car<br>(114,558) | truck<br>(12,414) | bus<br>(4,190) | bicycle<br>(1,004) | pedestrian<br>(22,564) |
| :---- | ---: | ---: | ---: | ---: | ---: | ---: | ---: |
| BEVFusion-LiDAR j6gen2_base/2.7.1_opt | 0.7958 | 0.7472 | 0.8408 | 0.7294 | 0.8673 | 0.7710 | 0.7706 |
| BEVFusion-LiDAR j6gen2_base/2.7.1 | 0.7958 | 0.7472 | 0.8408 | 0.7294 | 0.8673 | 0.7710 | 0.7706 |
| BEVFusion-LiDAR j6gen2_base/2.6.1 | 0.7851 | 0.7375 | 0.8166 | 0.7262 | 0.8481 | 0.7661 | 0.7687 |

Expand All @@ -213,6 +225,181 @@

## Release


### BEVFusion-LiDAR J6Gen2_base/2.7.1_opt

<details>
<summary> Changes </summary>

- Optimize ONNX, TensorRT plugin from `BEVFusion-LiDAR base/2.7.1` for better inference speed.
</details>

<details>
<summary> Artifacts </summary>

- Deployed onnx and ROS parameter files (for internal)
- [WebAuto](https://evaluation.tier4.jp/evaluation/mlpackages/46f8188d-e3be-4f2f-b989-fd27002610d7/releases/ab0f33f5-2c8e-4adf-b122-f8f0c229c91e?project_id=zWhWRzei)
- [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/bevfusion/bevfusion-l/j6gen2_base/v2.7.1/deployment.zip)
- [Google drive](https://drive.google.com/file/d/1Sw2UkqsoOP_YhoPpLqaBvHFnBapBV1kw/view?usp=drive_link)
- Logs (for internal)
- [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/bevfusion/bevfusion-l/j6gen2_base/v2.7.1/logs.zip)
- [Google drive](https://drive.google.com/file/d/1M_Ae0rQ9L1I4NbzSL9tlJ8D0KVGvunKF/view?usp=drive_link)
- Pytorch Best checkpoints:
- [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/bevfusion/bevfusion-l/j6gen2_base/v2.7.1/best_epoch_28.pth)
- [Google drive](https://drive.google.com/file/d/1xsFKCIkqVnt273o2SKjjCayuh_4IV-Vd/view?usp=drive_link)

</details>

<details>
<summary> Evaluation </summary>

**J6Gen2_base Datasets (5,179 frames)**:

- j6gen2 (3,951 frames): db_j6gen2_v1 + db_j6gen2_v2 + db_j6gen2_v3 + db_j6gen2_v4 + db_j6gen2_v5 + db_j6gen2_v6 + db_j6gen2_v7 + db_j6gen2_v8 + db_j6gen2_v9
- largebus (1,228 frames): db_largebus_v1 + db_largebus_v2 + db_largebus_v3

**Total BEV Center Distance mAP (eval range = 0.0 - 50.0m): 0.8828**

| class_name | GTs | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | optimal_conf@0.5/1.0/2.0/4.0 |
| :---- | ---: | ---: | :---- | :---- | :---- |
| car | 64,520 | 0.9022 | 0.853 / 0.901 / 0.921 / 0.933 | 0.904 / 0.931 / 0.937 / 0.939 | 0.260 / 0.193 / 0.180 / 0.172 |
| truck | 6,947 | 0.8627 | 0.736 / 0.863 / 0.910 / 0.942 | 0.800 / 0.877 / 0.903 / 0.920 | 0.244 / 0.191 / 0.188 / 0.166 |
| bus | 2,275 | 0.9440 | 0.866 / 0.940 / 0.983 / 0.986 | 0.912 / 0.958 / 0.978 / 0.980 | 0.203 / 0.177 / 0.163 / 0.138 |
| bicycle | 1,379 | 0.8483 | 0.802 / 0.849 / 0.869 / 0.874 | 0.847 / 0.867 / 0.876 / 0.879 | 0.205 / 0.191 / 0.172 / 0.172 |
| pedestrian | 19,421 | 0.8569 | 0.834 / 0.854 / 0.865 / 0.875 | 0.822 / 0.833 / 0.838 / 0.844 | 0.163 / 0.152 / 0.152 / 0.152 |
| **ALL** | 94,542 | 0.8828 | — | — | — |

**Total BEV Center Distance mAP (eval range = 50.0 - 90.0m): 0.7193**

| class_name | GTs | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | optimal_conf@0.5/1.0/2.0/4.0 |
| :---- | ---: | ---: | :---- | :---- | :---- |
| car | 58,562 | 0.8197 | 0.694 / 0.818 / 0.873 / 0.893 | 0.782 / 0.853 / 0.879 / 0.886 | 0.228 / 0.173 / 0.164 / 0.164 |
| truck | 5,101 | 0.6856 | 0.484 / 0.670 / 0.773 / 0.815 | 0.633 / 0.743 / 0.798 / 0.816 | 0.213 / 0.206 / 0.184 / 0.164 |
| bus | 2,078 | 0.8249 | 0.626 / 0.815 / 0.918 / 0.941 | 0.730 / 0.846 / 0.904 / 0.919 | 0.342 / 0.211 / 0.210 / 0.160 |
| bicycle | 758 | 0.5862 | 0.495 / 0.603 / 0.622 / 0.624 | 0.637 / 0.679 / 0.683 / 0.683 | 0.183 / 0.155 / 0.155 / 0.183 |
| pedestrian | 10,283 | 0.6801 | 0.650 / 0.676 / 0.691 / 0.703 | 0.692 / 0.705 / 0.713 / 0.720 | 0.136 / 0.136 / 0.136 / 0.136 |
| **ALL** | 76,782 | 0.7193 | — | — | — |

**Total BEV Center Distance mAP (eval range = 90.0 - 121.0m): 0.5223**

| class_name | GTs | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | optimal_conf@0.5/1.0/2.0/4.0 |
| :---- | ---: | ---: | :---- | :---- | :---- |
| car | 20,371 | 0.6814 | 0.493 / 0.674 / 0.763 / 0.796 | 0.638 / 0.737 / 0.781 / 0.795 | 0.193 / 0.159 / 0.151 / 0.151 |
| truck | 3,172 | 0.5181 | 0.227 / 0.454 / 0.652 / 0.738 | 0.447 / 0.601 / 0.715 / 0.762 | 0.206 / 0.206 / 0.162 / 0.140 |
| bus | 376 | 0.5381 | 0.272 / 0.557 / 0.643 / 0.680 | 0.462 / 0.669 / 0.714 / 0.731 | 0.217 / 0.151 / 0.115 / 0.115 |
| bicycle | 155 | 0.4165 | 0.316 / 0.419 / 0.466 / 0.466 | 0.487 / 0.553 / 0.589 / 0.589 | 0.199 / 0.166 / 0.190 / 0.190 |
| pedestrian | 2,794 | 0.4573 | 0.443 / 0.452 / 0.462 / 0.472 | 0.564 / 0.569 / 0.573 / 0.578 | 0.120 / 0.120 / 0.120 / 0.120 |
| **ALL** | 26,868 | 0.5223 | — | — | — |

**Total BEV Center Distance mAP (eval range = 0.0 - 121.0m): 0.7990**

| class_name | GTs | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | optimal_conf@0.5/1.0/2.0/4.0 |
| :---- | ---: | ---: | :---- | :---- | :---- |
| car | 143,453 | 0.8508 | 0.752 / 0.849 / 0.891 / 0.910 | 0.820 / 0.874 / 0.894 / 0.900 | 0.232 / 0.189 / 0.174 / 0.164 |
| truck | 15,220 | 0.7435 | 0.555 / 0.725 / 0.824 / 0.871 | 0.677 / 0.780 / 0.834 / 0.858 | 0.234 / 0.206 / 0.186 / 0.165 |
| bus | 4,729 | 0.8711 | 0.726 / 0.865 / 0.939 / 0.954 | 0.804 / 0.890 / 0.928 / 0.937 | 0.408 / 0.211 / 0.177 / 0.161 |
| bicycle | 2,292 | 0.7487 | 0.682 / 0.754 / 0.777 / 0.781 | 0.760 / 0.789 / 0.799 / 0.801 | 0.191 / 0.189 / 0.189 / 0.190 |
| pedestrian | 32,498 | 0.7809 | 0.756 / 0.777 / 0.790 / 0.801 | 0.760 / 0.772 / 0.778 / 0.784 | 0.151 / 0.136 / 0.136 / 0.136 |
| **ALL** | 198,192 | 0.7990 | — | — | — |

---

**LargeBus**: db_largebus_v1 + db_largebus_v2 + db_largebus_v3 (1,228 frames)

**Total BEV Center Distance mAP (eval range = 0.0 - 50.0m): 0.8947**

| class_name | GTs | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | optimal_conf@0.5/1.0/2.0/4.0 |
| :---- | ---: | ---: | :---- | :---- | :---- |
| car | 14,883 | 0.9231 | 0.884 / 0.925 / 0.937 / 0.946 | 0.923 / 0.947 / 0.952 / 0.953 | 0.234 / 0.178 / 0.178 / 0.178 |
| truck | 1,193 | 0.8893 | 0.754 / 0.905 / 0.938 / 0.961 | 0.832 / 0.922 / 0.939 / 0.945 | 0.269 / 0.201 / 0.188 / 0.116 |
| bus | 336 | 0.9564 | 0.872 / 0.983 / 0.985 / 0.986 | 0.904 / 0.962 / 0.965 / 0.965 | 0.419 / 0.174 / 0.174 / 0.174 |
| bicycle | 740 | 0.8264 | 0.749 / 0.825 / 0.862 / 0.870 | 0.824 / 0.854 / 0.867 / 0.872 | 0.249 / 0.247 / 0.198 / 0.198 |
| pedestrian | 5,059 | 0.8782 | 0.862 / 0.876 / 0.883 / 0.891 | 0.849 / 0.857 / 0.861 / 0.866 | 0.148 / 0.148 / 0.139 / 0.140 |
| **ALL** | 22,211 | 0.8947 | — | — | — |

**Total BEV Center Distance mAP (eval range = 50.0 - 90.0m): 0.7679**

| class_name | GTs | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | optimal_conf@0.5/1.0/2.0/4.0 |
| :---- | ---: | ---: | :---- | :---- | :---- |
| car | 10,994 | 0.8567 | 0.759 / 0.860 / 0.897 / 0.911 | 0.824 / 0.881 / 0.898 / 0.901 | 0.210 / 0.164 / 0.160 / 0.160 |
| truck | 1,011 | 0.7666 | 0.593 / 0.770 / 0.843 / 0.860 | 0.710 / 0.818 / 0.851 / 0.854 | 0.234 / 0.219 / 0.166 / 0.150 |
| bus | 143 | 0.8723 | 0.698 / 0.921 / 0.932 / 0.939 | 0.788 / 0.904 / 0.911 / 0.911 | 0.294 / 0.498 / 0.498 / 0.498 |
| bicycle | 463 | 0.5955 | 0.472 / 0.616 / 0.647 / 0.648 | 0.625 / 0.685 / 0.692 / 0.692 | 0.151 / 0.151 / 0.151 / 0.151 |
| pedestrian | 3,754 | 0.7485 | 0.726 / 0.747 / 0.755 / 0.766 | 0.740 / 0.749 / 0.755 / 0.761 | 0.124 / 0.124 / 0.121 / 0.121 |
| **ALL** | 16,365 | 0.7679 | — | — | — |

**Total BEV Center Distance mAP (eval range = 90.0 - 121.0m): 0.5924**

| class_name | GTs | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | optimal_conf@0.5/1.0/2.0/4.0 |
| :---- | ---: | ---: | :---- | :---- | :---- |
| car | 3,018 | 0.7238 | 0.573 / 0.728 / 0.789 / 0.806 | 0.688 / 0.765 / 0.792 / 0.801 | 0.221 / 0.228 / 0.158 / 0.158 |
| truck | 602 | 0.6616 | 0.381 / 0.676 / 0.780 / 0.809 | 0.575 / 0.756 / 0.811 / 0.822 | 0.216 / 0.208 / 0.176 / 0.176 |
| bus | 60 | 0.6305 | 0.434 / 0.626 / 0.730 / 0.732 | 0.608 / 0.745 / 0.793 / 0.793 | 0.217 / 0.217 / 0.087 / 0.087 |
| bicycle | 85 | 0.3964 | 0.298 / 0.382 / 0.452 / 0.453 | 0.468 / 0.544 / 0.595 / 0.595 | 0.166 / 0.166 / 0.166 / 0.166 |
| pedestrian | 1,121 | 0.5497 | 0.536 / 0.546 / 0.552 / 0.565 | 0.624 / 0.629 / 0.633 / 0.638 | 0.120 / 0.118 / 0.118 / 0.118 |
| **ALL** | 4,886 | 0.5924 | — | — | — |

**Total BEV Center Distance mAP (eval range = 0.0 - 121.0m): 0.8267**

| class_name | GTs | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | optimal_conf@0.5/1.0/2.0/4.0 |
| :---- | ---: | ---: | :---- | :---- | :---- |
| car | 28,895 | 0.8888 | 0.815 / 0.891 / 0.919 / 0.930 | 0.864 / 0.905 / 0.917 / 0.919 | 0.230 / 0.180 / 0.180 / 0.176 |
| truck | 2,806 | 0.8055 | 0.623 / 0.816 / 0.879 / 0.903 | 0.736 / 0.851 / 0.882 / 0.888 | 0.233 / 0.207 / 0.183 / 0.169 |
| bus | 539 | 0.9009 | 0.783 / 0.929 / 0.945 / 0.948 | 0.838 / 0.921 / 0.929 / 0.929 | 0.430 / 0.208 / 0.208 / 0.208 |
| bicycle | 1,288 | 0.7334 | 0.637 / 0.738 / 0.776 / 0.783 | 0.730 / 0.774 / 0.793 / 0.796 | 0.186 / 0.161 / 0.161 / 0.161 |
| pedestrian | 9,934 | 0.8051 | 0.787 / 0.803 / 0.811 / 0.820 | 0.782 / 0.790 / 0.796 / 0.801 | 0.149 / 0.135 / 0.128 / 0.135 |
| **ALL** | 43,462 | 0.8267 | — | — | — |

---

**J6Gen2**: db_j6gen2_v1 + db_j6gen2_v2 + db_j6gen2_v3 + db_j6gen2_v4 + db_j6gen2_v5 + db_j6gen2_v6 + db_j6gen2_v7 + db_j6gen2_v8 + db_j6gen2_v9 (3,951 frames)

**Total BEV Center Distance mAP (eval range = 0.0 - 50.0m): 0.8836**

| class_name | GTs | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | optimal_conf@0.5/1.0/2.0/4.0 |
| :---- | ---: | ---: | :---- | :---- | :---- |
| car | 49,637 | 0.8942 | 0.843 / 0.891 / 0.912 / 0.931 | 0.899 / 0.926 / 0.933 / 0.935 | 0.277 / 0.202 / 0.189 / 0.172 |
| truck | 5,754 | 0.8569 | 0.732 / 0.854 / 0.905 / 0.937 | 0.794 / 0.867 / 0.896 / 0.915 | 0.244 / 0.191 / 0.189 / 0.180 |
| bus | 1,939 | 0.9393 | 0.864 / 0.932 / 0.975 / 0.986 | 0.916 / 0.958 / 0.981 / 0.984 | 0.203 / 0.187 / 0.139 / 0.138 |
| bicycle | 639 | 0.8780 | 0.868 / 0.881 / 0.881 / 0.882 | 0.881 / 0.888 / 0.888 / 0.888 | 0.172 / 0.172 / 0.172 / 0.172 |
| pedestrian | 14,362 | 0.8494 | 0.824 / 0.846 / 0.858 / 0.869 | 0.813 / 0.825 / 0.831 / 0.837 | 0.163 / 0.161 / 0.155 / 0.155 |
| **ALL** | 72,331 | 0.8836 | — | — | — |

**Total BEV Center Distance mAP (eval range = 50.0 - 90.0m): 0.7040**

| class_name | GTs | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | optimal_conf@0.5/1.0/2.0/4.0 |
| :---- | ---: | ---: | :---- | :---- | :---- |
| car | 47,568 | 0.8118 | 0.679 / 0.810 / 0.868 / 0.890 | 0.772 / 0.846 / 0.874 / 0.883 | 0.228 / 0.173 / 0.164 / 0.163 |
| truck | 4,090 | 0.6662 | 0.459 / 0.645 / 0.757 / 0.804 | 0.614 / 0.724 / 0.785 / 0.807 | 0.213 / 0.206 / 0.184 / 0.164 |
| bus | 1,935 | 0.8221 | 0.621 / 0.806 / 0.919 / 0.943 | 0.727 / 0.842 / 0.904 / 0.921 | 0.413 / 0.211 / 0.206 / 0.160 |
| bicycle | 295 | 0.5781 | 0.542 / 0.588 / 0.590 / 0.592 | 0.674 / 0.686 / 0.686 / 0.690 | 0.215 / 0.206 / 0.206 / 0.206 |
| pedestrian | 6,529 | 0.6417 | 0.608 / 0.636 / 0.655 / 0.668 | 0.666 / 0.682 / 0.692 / 0.699 | 0.136 / 0.136 / 0.136 / 0.136 |
| **ALL** | 60,417 | 0.7040 | — | — | — |

**Total BEV Center Distance mAP (eval range = 90.0 - 121.0m): 0.5030**

| class_name | GTs | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | optimal_conf@0.5/1.0/2.0/4.0 |
| :---- | ---: | ---: | :---- | :---- | :---- |
| car | 17,353 | 0.6739 | 0.479 / 0.664 / 0.759 / 0.794 | 0.631 / 0.732 / 0.780 / 0.794 | 0.193 / 0.159 / 0.146 / 0.146 |
| truck | 2,570 | 0.4847 | 0.194 / 0.401 / 0.621 / 0.723 | 0.414 / 0.562 / 0.692 / 0.751 | 0.206 / 0.179 / 0.130 / 0.128 |
| bus | 316 | 0.5186 | 0.238 / 0.541 / 0.625 / 0.670 | 0.433 / 0.657 / 0.703 / 0.724 | 0.218 / 0.151 / 0.115 / 0.115 |
| bicycle | 70 | 0.4430 | 0.340 / 0.465 / 0.483 / 0.483 | 0.513 / 0.584 / 0.602 / 0.602 | 0.199 / 0.199 / 0.199 / 0.199 |
| pedestrian | 1,673 | 0.3948 | 0.381 / 0.389 / 0.401 / 0.408 | 0.524 / 0.528 / 0.532 / 0.535 | 0.125 / 0.125 / 0.125 / 0.125 |
| **ALL** | 21,982 | 0.5030 | — | — | — |

**Total BEV Center Distance mAP (eval range = 0.0 - 121.0m): 0.7958**

| class_name | GTs | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | optimal_conf@0.5/1.0/2.0/4.0 |
| :---- | ---: | ---: | :---- | :---- | :---- |
| car | 114,558 | 0.8408 | 0.737 / 0.837 / 0.882 / 0.906 | 0.809 / 0.866 / 0.888 / 0.895 | 0.236 / 0.189 / 0.164 / 0.164 |
| truck | 12,414 | 0.7294 | 0.539 / 0.704 / 0.811 / 0.863 | 0.664 / 0.764 / 0.823 / 0.851 | 0.244 / 0.206 / 0.183 / 0.164 |
| bus | 4,190 | 0.8673 | 0.719 / 0.856 / 0.939 / 0.956 | 0.800 / 0.886 / 0.928 / 0.939 | 0.342 / 0.211 / 0.161 / 0.161 |
| bicycle | 1,004 | 0.7710 | 0.747 / 0.778 / 0.780 / 0.780 | 0.801 / 0.813 / 0.814 / 0.815 | 0.191 / 0.191 / 0.191 / 0.191 |
| pedestrian | 22,564 | 0.7706 | 0.743 / 0.766 / 0.781 / 0.792 | 0.751 / 0.764 / 0.771 / 0.778 | 0.152 / 0.146 / 0.136 / 0.146 |
| **ALL** | 154,730 | 0.7958 | — | — | — |

</details>

### BEVFusion-LiDAR J6Gen2_base/2.7.1

<details>
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