Table 2. Performance comparison on nuScenes test set.

Methods	Modality	NDS	mAP	mATE	mASE	mAOE	mAVE	mAAE
BEVFormer [6]	Multi-view	0.569	0.481	0.582	0.256	0.375	0.378	0.125
PETR [7]	Multi-view	0.504	0.441	0.593	0.249	0.383	0.808	0.132
Polar Former [8]	Multi-view	0.572	0.493	0.556	0.256	0.364	0.440	0.127
SSN [4]	LiDAR	0.569	0.463	-	-	-	-	-
CenterPoint [3]	LiDAR	0.655	0.580	-	-	-	-	-