# 3D Object Detection (APbev & AP3d @ IoU=0.7) on KITTI (test) Source: [3D Object Detection (APbev & AP3d @ IoU=0.7) on KITTI (test)]() Collection index: [llms.txt]() Data updated: 2026-02-26T05:23:31.482Z Evaluation of 3D Object Detection performance on the KITTI test set, reporting Average Precision for both Bird's Eye View (APbev) and 3D space (AP3d), calculated using an IoU threshold of 0.7, broken down by 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 | 3D Object Detection | | Dataset (including any stated split) | KITTI object detection (test) | | Metric | APbev (Easy) @ IoU=0.7 | | Unit | PERCENT | | Direction | Higher is better | | Results loaded | 8 of 8 | | 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 - [APbev (Easy) @ IoU=0.7](): Higher is better; unit: PERCENT. - [APbev (Moderate) @ IoU=0.7](): Higher is better; unit: PERCENT. - [APbev (Hard) @ IoU=0.7](): Higher is better; unit: PERCENT. - [AP3d (Easy) @ IoU=0.7](): Higher is better; unit: PERCENT. - [AP3d (Moderate) @ IoU=0.7](): Higher is better; unit: PERCENT. - [AP3d (Hard) @ IoU=0.7](): Higher is better; unit: PERCENT. ## Recorded results | Method | APbev (Easy) @ IoU=0.7 | Result date | Report paper | | --- | --- | --- | --- | | PL++ | 75.5 | Not recorded | 68fa67521e209131cea156e4 | | Disp R-CNN | 74.07 | Not recorded | 68fa67521e209131cea156e4 | | Disp R-CNN | 73.82 | Not recorded | 68fa67521e209131cea156e4 | | ZoomNet | 72.94 | Not recorded | 68fa67521e209131cea156e4 | | OC-Stereo | 68.89 | Not recorded | 68fa67521e209131cea156e4 | | PL (AVOD) | 66.83 | Not recorded | 68fa67521e209131cea156e4 | | S-RCNN | 61.67 | Not recorded | 68fa67521e209131cea156e4 | | PL (FP) | 55 | Not recorded | 68fa67521e209131cea156e4 | ### PL++ APbev (Easy) @ IoU=0.7: 75.5. Result ID: 698d29e38b517eb4331f7bf3. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"LiDAR Supervision":true}. This record does not assert independent reproduction. ### Disp R-CNN APbev (Easy) @ IoU=0.7: 74.07. Result ID: 698d29e38b517eb4331f7bf0. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"LiDAR Supervision":true}. This record does not assert independent reproduction. ### Disp R-CNN APbev (Easy) @ IoU=0.7: 73.82. Result ID: 698d29e38b517eb4331f7bef. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"LiDAR Supervision":false}. This record does not assert independent reproduction. ### ZoomNet APbev (Easy) @ IoU=0.7: 72.94. Result ID: 698d29e38b517eb4331f7bf1. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"LiDAR Supervision":true}. This record does not assert independent reproduction. ### OC-Stereo APbev (Easy) @ IoU=0.7: 68.89. Result ID: 698d29e38b517eb4331f7bf2. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"LiDAR Supervision":true}. This record does not assert independent reproduction. ### PL (AVOD) APbev (Easy) @ IoU=0.7: 66.83. Result ID: 698d29e38b517eb4331f7bee. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"LiDAR Supervision":true}. This record does not assert independent reproduction. ### S-RCNN APbev (Easy) @ IoU=0.7: 61.67. Result ID: 698d29e38b517eb4331f7bec. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"LiDAR Supervision":false}. This record does not assert independent reproduction. ### PL (FP) APbev (Easy) @ IoU=0.7: 55. Result ID: 698d29e38b517eb4331f7bed. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"LiDAR Supervision":true}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.