# 3D Object Detection on K-Radar (Weather Conditions) Source: [3D Object Detection on K-Radar (Weather Conditions)]() Collection index: [llms.txt]() Data updated: 2026-07-07T10:38:44.245Z Evaluation of 3D Object Detection performance on the K-Radar dataset, reporting detailed AP3D and APBEV metrics segmented across various weather conditions (normal, overcast, fog, rain, snow types). 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) | K-Radar | | Metric | AP3D Total | | Unit | PERCENT | | Direction | Higher is better | | Results loaded | 38 of 38 | | 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 - [AP3D Total](): Higher is better; unit: PERCENT. - [AP3D Normal](): Higher is better; unit: PERCENT. - [AP3D Overcast](): Higher is better; unit: PERCENT. - [AP3D Fog](): Higher is better; unit: PERCENT. - [AP3D Rain](): Higher is better; unit: PERCENT. - [AP3D Sleet](): Higher is better; unit: PERCENT. - [AP3D Light Snow](): Higher is better; unit: PERCENT. - [AP3D Heavy Snow](): Higher is better; unit: PERCENT. - [APBEV Total](): Higher is better; unit: PERCENT. - [APBEV Normal](): Higher is better; unit: PERCENT. - [APBEV Overcast](): Higher is better; unit: PERCENT. - [APBEV Fog](): Higher is better; unit: PERCENT. - [APBEV Rain](): Higher is better; unit: PERCENT. - [APBEV Sleet](): Higher is better; unit: PERCENT. - [APBEV Light Snow](): Higher is better; unit: PERCENT. - [APBEV Heavy Snow](): Higher is better; unit: PERCENT. ## Recorded results | Method | AP3D Total | Result date | Report paper | | --- | --- | --- | --- | | WRCFormer | 58.7 | Not recorded | 69535c6e53fdd5c36173d796 | | RadarXFormer | 57.6 | Not recorded | 69b8e0260636e5bf4afbec73 | | L4DR (RAF) | 57.4 | Not recorded | 6a4c882185dba69fef8b297a | | DPFT | 56.1 | Not recorded | 69535c6e53fdd5c36173d796 | | DPFT | 56.1 | Not recorded | 69b8e0260636e5bf4afbec73 | | MixedFusion | 55.1 | Not recorded | 69535c6e53fdd5c36173d796 | | MixedFusion | 55.1 | Not recorded | 69b8e0260636e5bf4afbec73 | | L4DR (Frozen) | 54.2 | Not recorded | 6a4c882185dba69fef8b297a | | L4DR (Joint) | 53.9 | Not recorded | 6a4c882185dba69fef8b297a | | L4DR | 53.5 | Not recorded | 69b8e0260636e5bf4afbec73 | | L4DR (Baseline) | 53.5 | Not recorded | 6a4c882185dba69fef8b297a | | TED-M | 52.3 | Not recorded | 69535c6e53fdd5c36173d796 | | TED-M | 52.3 | Not recorded | 69b8e0260636e5bf4afbec73 | | VPFNet | 52.2 | Not recorded | 69535c6e53fdd5c36173d796 | | VPFNet | 52.2 | Not recorded | 69b8e0260636e5bf4afbec73 | | TED-S | 51 | Not recorded | 69535c6e53fdd5c36173d796 | | TED-S | 51 | Not recorded | 69b8e0260636e5bf4afbec73 | | CasA | 50.9 | Not recorded | 69535c6e53fdd5c36173d796 | | CasA | 50.9 | Not recorded | 69b8e0260636e5bf4afbec73 | | RTNH | 47.4 | Not recorded | 68fa71241e209131cea4f772 | | RTNH | 47.4 | Not recorded | 69535c6e53fdd5c36173d796 | | EchoFusion | 47.4 | Not recorded | 69535c6e53fdd5c36173d796 | | RTNH | 47.4 | Not recorded | 69b8e0260636e5bf4afbec73 | | EchoFusion | 47.4 | Not recorded | 69b8e0260636e5bf4afbec73 | | Voxel R-CNN | 46.4 | Not recorded | 69535c6e53fdd5c36173d796 | | Voxel-RCNN | 46.4 | Not recorded | 69b8e0260636e5bf4afbec73 | | PointPillars | 45.4 | Not recorded | 68fa71241e209131cea4f772 | | 3D-LRF | 45.2 | Not recorded | 69b8e0260636e5bf4afbec73 | | RobuRCDet | 44.1 | Not recorded | 6a4c882185dba69fef8b297a | | 3D-LRF (RAF) | 43.2 | Not recorded | 6a4c882185dba69fef8b297a | | CRN | 41.4 | Not recorded | 6a4c882185dba69fef8b297a | | 3D-LRF (Joint) | 39.3 | Not recorded | 6a4c882185dba69fef8b297a | | 3D-LRF (Frozen) | 39.1 | Not recorded | 6a4c882185dba69fef8b297a | | SAMFusion | 36.8 | Not recorded | 6a4c882185dba69fef8b297a | | 3D-LRF (Baseline) | 35.8 | Not recorded | 6a4c882185dba69fef8b297a | | RobuRCDet | 27.2 | Not recorded | 6a4c882185dba69fef8b297a | | CRN | 24.9 | Not recorded | 6a4c882185dba69fef8b297a | | InterFusion | 17.5 | Not recorded | 69b8e0260636e5bf4afbec73 | ### WRCFormer AP3D Total: 58.7. Result ID: 699803b65698665ec45d3b7a. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sensors":"C + R"}. This record does not assert independent reproduction. ### RadarXFormer AP3D Total: 57.6. Result ID: 69b9325e47f34ce924a2ae58. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modality":"R + C"}. This record does not assert independent reproduction. ### L4DR (RAF) AP3D Total: 57.4. Result ID: 6a4cd72060b88bb339cac0ca. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sensors":"C+L+R"}. This record does not assert independent reproduction. ### DPFT AP3D Total: 56.1. Result ID: 699803b65698665ec45d3b79. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sensors":"C + R"}. This record does not assert independent reproduction. ### DPFT AP3D Total: 56.1. Result ID: 69b9325e47f34ce924a2ae57. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modality":"R + C"}. This record does not assert independent reproduction. ### MixedFusion AP3D Total: 55.1. Result ID: 699803b65698665ec45d3b77. [Reporting paper]() Recorded evaluation configuration: {"Sensors":"C + L"}. This record does not assert independent reproduction. ### MixedFusion AP3D Total: 55.1. Result ID: 69b9325e47f34ce924a2ae52. [Reporting paper]() Recorded evaluation configuration: {"Modality":"C + L"}. This record does not assert independent reproduction. ### L4DR (Frozen) AP3D Total: 54.2. Result ID: 6a4cd72060b88bb339cac0c9. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sensors":"C+L+R"}. This record does not assert independent reproduction. ### L4DR (Joint) AP3D Total: 53.9. Result ID: 6a4cd72060b88bb339cac0c8. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sensors":"C+L+R"}. This record does not assert independent reproduction. ### L4DR AP3D Total: 53.5. Result ID: 69b9325e47f34ce924a2ae55. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modality":"R + L"}. This record does not assert independent reproduction. ### L4DR (Baseline) AP3D Total: 53.5. Result ID: 6a4cd72060b88bb339cac0c7. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sensors":"L+R"}. This record does not assert independent reproduction. ### TED-M AP3D Total: 52.3. Result ID: 699803b65698665ec45d3b76. [Reporting paper]() Recorded evaluation configuration: {"Sensors":"C + L"}. This record does not assert independent reproduction. ### TED-M AP3D Total: 52.3. Result ID: 69b9325e47f34ce924a2ae51. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modality":"C + L"}. This record does not assert independent reproduction. ### VPFNet AP3D Total: 52.2. Result ID: 699803b65698665ec45d3b75. [Reporting paper]() Recorded evaluation configuration: {"Sensors":"C + L"}. This record does not assert independent reproduction. ### VPFNet AP3D Total: 52.2. Result ID: 69b9325e47f34ce924a2ae50. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modality":"C + L"}. This record does not assert independent reproduction. ### TED-S AP3D Total: 51. Result ID: 699803b65698665ec45d3b74. [Reporting paper]() Recorded evaluation configuration: {"Sensors":"L"}. This record does not assert independent reproduction. ### TED-S AP3D Total: 51. Result ID: 69b9325e47f34ce924a2ae4f. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modality":"L"}. This record does not assert independent reproduction. ### CasA AP3D Total: 50.9. Result ID: 699803b65698665ec45d3b73. [Reporting paper]() Recorded evaluation configuration: {"Sensors":"L"}. This record does not assert independent reproduction. ### CasA AP3D Total: 50.9. Result ID: 69b9325e47f34ce924a2ae4e. [Reporting paper]() Recorded evaluation configuration: {"Modality":"L"}. This record does not assert independent reproduction. ### RTNH AP3D Total: 47.4. Result ID: 69919d813a6c3148490964be. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Modality":"4D Radar"}. This record does not assert independent reproduction. ### RTNH AP3D Total: 47.4. Result ID: 699803b65698665ec45d3b71. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Sensors":"R"}. This record does not assert independent reproduction. ### EchoFusion AP3D Total: 47.4. Result ID: 699803b65698665ec45d3b78. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Sensors":"C + R"}. This record does not assert independent reproduction. ### RTNH AP3D Total: 47.4. Result ID: 69b9325e47f34ce924a2ae4c. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Modality":"R"}. This record does not assert independent reproduction. ### EchoFusion AP3D Total: 47.4. Result ID: 69b9325e47f34ce924a2ae56. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Modality":"R + C"}. This record does not assert independent reproduction. ### Voxel R-CNN AP3D Total: 46.4. Result ID: 699803b65698665ec45d3b72. [Reporting paper]() Recorded evaluation configuration: {"Sensors":"L"}. This record does not assert independent reproduction. ### Voxel-RCNN AP3D Total: 46.4. Result ID: 69b9325e47f34ce924a2ae4d. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Modality":"L"}. This record does not assert independent reproduction. ### PointPillars AP3D Total: 45.4. Result ID: 69919d813a6c3148490964bf. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Modality":"Lidar"}. This record does not assert independent reproduction. ### 3D-LRF AP3D Total: 45.2. Result ID: 69b9325e47f34ce924a2ae54. [Reporting paper]() Recorded evaluation configuration: {"Modality":"R + L"}. This record does not assert independent reproduction. ### RobuRCDet AP3D Total: 44.1. Result ID: 6a4cd72060b88bb339cac0c1. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sensors":"C+L+R"}. This record does not assert independent reproduction. ### 3D-LRF (RAF) AP3D Total: 43.2. Result ID: 6a4cd72060b88bb339cac0c6. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sensors":"C+L+R"}. This record does not assert independent reproduction. ### CRN AP3D Total: 41.4. Result ID: 6a4cd72060b88bb339cac0c0. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sensors":"C+L+R"}. This record does not assert independent reproduction. ### 3D-LRF (Joint) AP3D Total: 39.3. Result ID: 6a4cd72060b88bb339cac0c4. [Reporting paper]() Recorded evaluation configuration: {"Sensors":"C+L+R"}. This record does not assert independent reproduction. ### 3D-LRF (Frozen) AP3D Total: 39.1. Result ID: 6a4cd72060b88bb339cac0c5. [Reporting paper]() Recorded evaluation configuration: {"Sensors":"C+L+R"}. This record does not assert independent reproduction. ### SAMFusion AP3D Total: 36.8. Result ID: 6a4cd72060b88bb339cac0c2. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sensors":"C+L+R"}. This record does not assert independent reproduction. ### 3D-LRF (Baseline) AP3D Total: 35.8. Result ID: 6a4cd72060b88bb339cac0c3. [Reporting paper]() Recorded evaluation configuration: {"Sensors":"L+R"}. This record does not assert independent reproduction. ### RobuRCDet AP3D Total: 27.2. Result ID: 6a4cd72060b88bb339cac0bf. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sensors":"C+R"}. This record does not assert independent reproduction. ### CRN AP3D Total: 24.9. Result ID: 6a4cd72060b88bb339cac0be. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sensors":"C+R"}. This record does not assert independent reproduction. ### InterFusion AP3D Total: 17.5. Result ID: 69b9325e47f34ce924a2ae53. [Reporting paper]() Recorded evaluation configuration: {"Modality":"R + L"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.