# 2nd Place Solution for Waymo Open Dataset Challenge -- 2D Object Detection

arXiv: https://arxiv.org/abs/2006.15507 · HTML: https://mlsanity.com/paper/2006.15507/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 28 Jun 2020.

## Built on by (most cited first, 2 of 2)

- [USB: Universal-Scale Object Detection Benchmark](https://mlsanity.com/paper/2103.14027/) (2021)
- [2nd Place Solution for Waymo Open Dataset Challenge -- Real-time 2D Object Detection](https://mlsanity.com/paper/2106.08713/) (2021)

## Abstract (arXiv)

A practical autonomous driving system urges the need to reliably and accurately detect vehicles and persons. In this report, we introduce a state-of-the-art 2D object detection system for autonomous driving scenarios. Specifically, we integrate both popular two-stage detector and one-stage detector with anchor free fashion to yield a robust detection. Furthermore, we train multiple expert models and design a greedy version of the auto ensemble scheme that automatically merges detections from different models. Notably, our overall detection system achieves 70.28 L2 mAP on the Waymo Open Dataset v1.2, ranking the 2nd place in the 2D detection track of the Waymo Open Dataset Challenges.