# 2D Car Detection on KITTI (test) Source: [2D Car Detection on KITTI (test)]() Collection index: [llms.txt]() Data updated: 2026-02-26T05:23:14.806Z Evaluation of 2D Car Detection performance on the test split of the KITTI dataset, reporting 2D Average Precision (AP2D) across Easy, Moderate, and Hard difficulty levels. A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. | Scope | Recorded value | | --- | --- | | Task | 2D Car Detection | | Dataset (including any stated split) | KITTI (test) | | Metric | AP2D Easy | | Unit | PERCENT | | Direction | Higher is better | | Results loaded | 14 of 14 | | Coverage | All results currently returned for this benchmark | Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol. ## Metrics - [AP2D Easy](): Higher is better; unit: PERCENT. - [AP2D Moderate](): Higher is better; unit: PERCENT. - [AP2D Hard](): Higher is better; unit: PERCENT. ## Recorded results | Method | AP2D Easy | Result date | Report paper | | --- | --- | --- | --- | | PV-RCNN | 98.17 | Not recorded | 68fa6a8e1e209131cea28ce0 | | LIGA-Stereo | 96.43 | Not recorded | 68fa6a8e1e209131cea28ce0 | | CG-Stereo | 96.31 | Not recorded | 68fa6a8e1e209131cea28ce0 | | Point-RCNN | 95.92 | Not recorded | 68fa6a8e1e209131cea28ce0 | | CDN | 95.85 | Not recorded | 68fa6a8e1e209131cea28ce0 | | DSGN | 95.53 | Not recorded | 68fa6a8e1e209131cea28ce0 | | PL++ (SDN+GDC) | 94.95 | Not recorded | 68fa6a8e1e209131cea28ce0 | | PL++: P-RCNN | 94.46 | Not recorded | 68fa6a8e1e209131cea28ce0 | | ZoomNet | 94.22 | Not recorded | 68fa6a8e1e209131cea28ce0 | | PointPillars | 94 | Not recorded | 68fa6a8e1e209131cea28ce0 | | Stereo R-CNN | 93.98 | Not recorded | 68fa6a8e1e209131cea28ce0 | | Disp-RCNN | 93.45 | Not recorded | 68fa6a8e1e209131cea28ce0 | | OC-Stereo | 87.39 | Not recorded | 68fa6a8e1e209131cea28ce0 | | PL: AVOD | 85.4 | Not recorded | 68fa6a8e1e209131cea28ce0 | ### PV-RCNN AP2D Easy: 98.17. Result ID: 699abb1c5698665ec4491c16. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Sensor":"LiDAR","Recall positions":"40"}. This record does not assert independent reproduction. ### LIGA-Stereo AP2D Easy: 96.43. Result ID: 699abb1c5698665ec4491c21. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Sensor":"Stereo","Recall positions":"40"}. This record does not assert independent reproduction. ### CG-Stereo AP2D Easy: 96.31. Result ID: 699abb1c5698665ec4491c1f. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sensor":"Stereo","Recall positions":"40"}. This record does not assert independent reproduction. ### Point-RCNN AP2D Easy: 95.92. Result ID: 699abb1c5698665ec4491c15. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Sensor":"LiDAR","Recall positions":"40"}. This record does not assert independent reproduction. ### CDN AP2D Easy: 95.85. Result ID: 699abb1c5698665ec4491c20. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Sensor":"Stereo","Recall positions":"40"}. This record does not assert independent reproduction. ### DSGN AP2D Easy: 95.53. Result ID: 699abb1c5698665ec4491c1e. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Sensor":"Stereo","Recall positions":"40"}. This record does not assert independent reproduction. ### PL++ (SDN+GDC) AP2D Easy: 94.95. Result ID: 699abb1c5698665ec4491c17. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Sensor":"Stereo","Recall positions":"40","4-beam LiDAR refinement":true}. This record does not assert independent reproduction. ### PL++: P-RCNN AP2D Easy: 94.46. Result ID: 699abb1c5698665ec4491c1a. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Sensor":"Stereo","Recall positions":"40"}. This record does not assert independent reproduction. ### ZoomNet AP2D Easy: 94.22. Result ID: 699abb1c5698665ec4491c1b. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sensor":"Stereo","Recall positions":"40"}. This record does not assert independent reproduction. ### PointPillars AP2D Easy: 94. Result ID: 699abb1c5698665ec4491c14. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Sensor":"LiDAR","Recall positions":"40"}. This record does not assert independent reproduction. ### Stereo R-CNN AP2D Easy: 93.98. Result ID: 699abb1c5698665ec4491c18. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Sensor":"Stereo","Recall positions":"40"}. This record does not assert independent reproduction. ### Disp-RCNN AP2D Easy: 93.45. Result ID: 699abb1c5698665ec4491c1d. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Sensor":"Stereo","Recall positions":"40"}. This record does not assert independent reproduction. ### OC-Stereo AP2D Easy: 87.39. Result ID: 699abb1c5698665ec4491c1c. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sensor":"Stereo","Recall positions":"40"}. This record does not assert independent reproduction. ### PL: AVOD AP2D Easy: 85.4. Result ID: 699abb1c5698665ec4491c19. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Sensor":"Stereo","Recall positions":"40"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.