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Statistical Results of Object Size

 

ONCE v.s. Waymo

ONCE@Car Waymo@Vehicle
Number of Frames 8282 158081
Number of Instances 146093 4778641
#Instances per Frame 17.64 30.22
Z-axis (mean, std, min, max, median) -0.96, 0.49, -4.66, 2.56, -0.95 0.86, 1.02, -12.64, 13.14, 0.81
L (mean, std, min, max, median) 4.37, 0.30, 0.42, 35.19, 4.43 4.8, 1.16, 0.07, 19.69, 4.63
W (mean, std, min, max, median) 1.82, 0.14, 0.21, 6.50, 1.78 2.1, 0.3, 0.32, 8.29, 2.08
H (mean, std, min, max, median) 1.57, 0.13, 0.69, 7.27, 1.56 1.78, 0.41, 0.22, 10.22, 1.69
SHIFT of Z-coordinate 1.76 = 0.81 -（-0.95） \
ONCE@Truck Waymo@Vehicle
Number of Frames 8282 158081
Number of Instances 6955 4778641
#Instances per Frame 0.84 30.22
Z-axis (mean, std, min, max, median) -0.30, 0.57, -3.13, 2.05, -0.26 0.86, 1.02, -12.64, 13.14, 0.81
L (mean, std, min, max, median) 7.3, 2.74, 0.21, 21.16, 6.13 4.8, 1.16, 0.07, 19.69, 4.63
W (mean, std, min, max, median) 2.44, 0.42, 0.28, 5.09, 2.42 2.1, 0.3, 0.32, 8.29, 2.08
H (mean, std, min, max, median) 2.87, 0.25, 0.8, 4.87, 2.87 1.78, 0.41, 0.22, 10.22, 1.69
SHIFT of Z-coordinate 1.07 = 0.81 -（-0.26） \
ONCE@Bus Waymo@Vehicle
Number of Frames 8282 158081
Number of Instances 4381 4778641
#Instances per Frame 0.53 30.22
Z-axis (mean, std, min, max, median) -0.15, 0.43, -3.15, 1.83, -0.08 0.86, 1.02, -12.64, 13.14, 0.81
L (mean, std, min, max, median) 10.87, 1.77, 0.8, 14.65, 11.36 4.8, 1.16, 0.07, 19.69, 4.63
W (mean, std, min, max, median) 2.88, 0.25, 0.80, 4.87, 2.87 2.1, 0.3, 0.32, 8.29, 2.08
H (mean, std, min, max, median) 3.25, 0.30, 0.03, 5.26, 3.25 1.78, 0.41, 0.22, 10.22, 1.69
SHIFT of Z-coordinate 0.89 = 0.81 -（-0.08） \

ONCE v.s. Waymo for Vehicle

ONCE@Vehicle Waymo@Vehicle
Number of Frames 8282 158081
Number of Instances 157429 4778641
#Instances per Frame 19.01 30.22
Z-axis (mean, std, min, max, median) -0.91, 0.52, -4.66, 2.56, -0.94 0.86, 1.02, -12.64, 13.14, 0.81
L (mean, std, min, max, median) 4.68, 1.40, 0.21, 35.19, 4.44 4.8, 1.16, 0.07, 19.69, 4.63
W (mean, std, min, max, median) 1.88, 0.27, 0.21, 6.50, 1.79 2.1, 0.3, 0.32, 8.29, 2.08
H (mean, std, min, max, median) 1.66, 0.39, 0.03, 7.27, 1.56 1.78, 0.41, 0.22, 10.22, 1.69
SHIFT of Z-coordinate 1.75 = 0.81 -（-0.94） \

ONCE v.s. Waymo for Pedestrian

ONCE@Pedestrian Waymo@Pedestrian
Number of Frames 8282 158081
Number of Instances 37425 2229448
#Instances per Frame 4.52 14.10
Z-axis (mean, std, min, max, median) -0.82, 0.46, -3.17, 7.17, -0.79 0.887, 0.7 46, -7.185, 7.988, 0.873
L (mean, std, min, max, median) 0.77, 0.13, 0.05, 12.56, 0.79 0.910, 0.197, 0.089, 4.313, 0.913
W (mean, std, min, max, median) 0.77, 0.11, 0.03, 8016, 0.79 0.856, 0.154, 0.185, 2.680, 0.846
H (mean, std, min, max, median) 1.68, 0.14, 0.12, 15.36, 1.70 1.737, 0.209, 0.310, 3.420, 1.760
SHIFT of Z-coordinate 1.66 = 0.87 - (-0.79) \

ONCE v.s. Waymo for Cyclist

ONCE@Cyclist Waymo@Cyclist
Number of Frames 8282 158081
Number of Instances 46661 53344
#Instances per Frame 5.63 0.337
Z-axis (mean, std, min, max, median) -0.99, 0.46, -4.3, 2.64, -0.93 0.739, 0.652, -3.097, 5. 106 , 0.794
L (mean, std, min, max, median) 2.16, 0.35, 0.17, 7.00, 2.30 1.810， 0.277， 0.530， 3.524， 1.846
W (mean, std, min, max, median) 0.80, 0.12, 0.06, 0.60, 0.80 0.844， 0.115， 0.434， 1.633， 0.834
H (mean, std, min, max, median) 1.34, 0.25, 0.39, 3.88, 1.37 1.770， 0.186， 0.890， 2.470， 1.800
SHIFT of Z-coordinate 1.72 = 0.79 - (-0.93) \

 

KITTI nuScenes Waymo for Car

KITTI@Car nuScenes@car Waymo@Vehicle
Number of Frames 7481 28130 158081
Number of Instances 28742 339949 4778641
#Instances per Frame 3.80 12.08 30.22
Z-axis (mean, std, min, max, median) -0.75, 0.33, -2.71, 3.1, -0.8 -0.93, 1.48, -9.99, 9.37, -1.02 0.86, 1.02, -12.64, 13.14, 0.81
L (mean, std, min, max, median) 3.88, 0.43, 2.19, 6.67, 3.88 4.63, 0.47, 2.4, 11.52, 4.59 4.8, 1.16, 0.07, 19.69, 4.63
W (mean, std, min, max, median) 1.63. 0.1, 1.14, 2.04, 1.63 1.96, 0.19, 1.21, 3.88, 1.94 2.1, 0.3, 0.32, 8.29, 2.08
H (mean, std, min, max, median) 1.53, 0.14, 1.14, 2.48, 1.50 1.74, 0.25, 0.93, 4.49, 1.7 1.78, 0.41, 0.22, 10.22, 1.69
SHIFT of Z-coordinate 1.6 = 0.81 -（-0.8） 1.8=0.81 -（-1.02） \

KITTI nuScenes Waymo for Pedestrian

KITTI@Pedestrian nuScenes@Pedestrian Waymo@Pedestrian
Number of Frames 7481 28130 158081
Number of Instances 4487 161928 2229448
#Instances per Frame 0.60 5.756 14.10
Z-axis (mean, std, min, max, median) -0.580, 0.254, -2.058, 0.729, -0.633 -0.688, 1.215, -8.465, 8.887, -0.737 0.887, 0.7 46, -7.185, 7.988, 0.873
L (mean, std, min, max, median) 0.842, 0.235, 0.200, 1.440, 0.880 0.729, 0.190, 0.214, 2.130, 0.708 0.910, 0.197, 0.089, 4.313, 0.913
W (mean, std, min, max, median) 0.660, 0.142, 0.300, 1.200, 0.650 0.669, 0.139, 0.221, 1.971, 0.658 0.856, 0.154, 0.185, 2.680, 0.846
H (mean, std, min, max, median) 1.760, 0.113, 1.140, 2.010, 1.770 1.770, 0.188, 0.293, 2.930, 1.784 1.737, 0.209, 0.310, 3.420, 1.760
SHIFT of Z-coordinate 1.506 = 0.873 - (-0.633) 1.61 = 0.873 - (-0.737) \

KITTI nuScenes Waymo for Cyclist

KITTI@Cyclist nuScenes@Bicycle Waymo@Cyclist
Number of Frames 7481 28130 158081
Number of Instances 1627 8185 53344
#Instances per Frame 0.217 0.291 0.337
Z-axis (mean, std, min, max, median) -0.620, 0.302, -2.463, 0.552, -0.621 -1.027, 0.975, -6.077, 4.821, -1.070 0.739, 0.652, -3.097, 5. 106 , 0.794
L (mean, std, min, max, median) 1.763, 0.176, 1.190, 2.170, 1.760 1.701, 0.252, 0.454, 2.854, 1.696 1.810, 0.277, 0.530, 3.524, 1.846
W (mean, std, min, max, median) 0.597, 0.124, 0.340, 0.930, 0.600 0.608, 0.163, 0.209, 1.661, 0.602 0.844, 0.115, 0.434, 1.633, 0.834
H (mean, std, min, max, median) 1.737, 0.094, 1.410, 2.090, 1.750 1.303, 0.352, 0.501, 2.223, 1.156 1.770, 0.186, 0.890, 2.470, 1.800
SHIFT of Z-coordinate 1.415 = 0.794 - (-0.621)） 1.864 = 0.794 - (-1.070) \