# 3D Object Detection (Car) on KITTI (val)

Source: [3D Object Detection (Car) on KITTI (val)](<https://www.sota2.com/research/sota/3d-object-detection-car-on-kitti-val>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-02-26T05:23:13.099Z

Evaluation of 3D Object Detection performance specifically for the 'Car' class subset on the KITTI validation set, reporting metrics categorized 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 (Car) |
| Dataset (including any stated split) | KITTI (val) |
| Metric | AP Easy |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 9 of 9 |
| 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

- [AP Easy](<https://www.sota2.com/research/sota/3d-object-detection-car-on-kitti-val.md?metric=AP%20Easy>): Higher is better; unit: PERCENT.

- [AP Moderate](<https://www.sota2.com/research/sota/3d-object-detection-car-on-kitti-val.md?metric=AP%20Moderate>): Higher is better; unit: PERCENT.

- [AP Hard](<https://www.sota2.com/research/sota/3d-object-detection-car-on-kitti-val.md?metric=AP%20Hard>): Higher is better; unit: PERCENT.

## Recorded results

| Method | AP Easy | Result date | Report paper |
| --- | --- | --- | --- |
| SA-SSD | 90.15 | Not recorded | 68fa6d821e209131cea3a30c |
| STD | 89.7 | Not recorded | 68fa6d821e209131cea3a30c |
| SP-Voxel R-CNN | 89.69 | Not recorded | 68fa6d821e209131cea3a30c |
| Part-A² | 89.47 | Not recorded | 68fa6d821e209131cea3a30c |
| Voxel R-CNN | 89.41 | Not recorded | 68fa6d821e209131cea3a30c |
| Pyramid-PV | 89.37 | Not recorded | 68fa6d821e209131cea3a30c |
| PV-RCNN | 89.35 | Not recorded | 68fa6d821e209131cea3a30c |
| VoTr-TSD | 89.04 | Not recorded | 68fa6d821e209131cea3a30c |
| Point R-CNN | 88.88 | Not recorded | 68fa6d821e209131cea3a30c |

### SA-SSD

AP Easy: 90.15. Result ID: 698fa4bb3a6c314849fac6c0.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6d821e209131cea3a30c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa67181e209131cea14196.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### STD

AP Easy: 89.7. Result ID: 698fa4bb3a6c314849fac6bf.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6d821e209131cea3a30c.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### SP-Voxel R-CNN

AP Easy: 89.69. Result ID: 698fa4bb3a6c314849fac6c5.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6d821e209131cea3a30c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d821e209131cea3a30c.md>)

Recorded evaluation configuration: {"spatial\_pruning":true}. This record does not assert independent reproduction.

### Part-A²

AP Easy: 89.47. Result ID: 698fa4bb3a6c314849fac6be.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6d821e209131cea3a30c.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### Voxel R-CNN

AP Easy: 89.41. Result ID: 698fa4bb3a6c314849fac6c4.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6d821e209131cea3a30c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa693b1e209131cea21032.md>)

[Implementation](<https://github.com/djiajunustc/Voxel-R-CNN>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### Pyramid-PV

AP Easy: 89.37. Result ID: 698fa4bb3a6c314849fac6c3.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6d821e209131cea3a30c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6aab1e209131cea299dc.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### PV-RCNN

AP Easy: 89.35. Result ID: 698fa4bb3a6c314849fac6c1.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6d821e209131cea3a30c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69b11e209131cea23700.md>)

[Implementation](<https://github.com/open-mmlab/OpenPCDet>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### VoTr-TSD

AP Easy: 89.04. Result ID: 698fa4bb3a6c314849fac6c2.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6d821e209131cea3a30c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ad01e209131cea2a7d3.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### Point R-CNN

AP Easy: 88.88. Result ID: 698fa4bb3a6c314849fac6bd.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6d821e209131cea3a30c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65bd1e209131cea0c115.md>)

[Implementation](<https://github.com/sshaoshuai/PointRCNN>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

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