3D Object Detection on KITTI-360 (val)
82.4AP3D @ IoU=0.5, Class=CarGA-HF
Evaluation Results
| Method | Links | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| GA-HFModality=L+F, Coordinate System=hybrid, Head=TransFusion Head, Training Data=Full 56k data frames2026.06 | 82.4 | — | 47 | — | — | — | 42.9 | 24.1 | 33.1 | 0.878 | 1.698 | — | 17.1 | 49.3 | |
| GA-HFModality=L+F, Coordinate System=hybrid, Head=CenterPoint Head2026.06 | 79.3 | — | 43.1 | — | — | — | 43.5 | 30.9 | 34.3 | 0.785 | 0.805 | — | 18.3 | 47.6 | |
| BEVFusionModality=L+F, Coordinate System=cart., Head=CenterPoint Head2026.06 | 78.5 | — | 42.4 | — | — | — | 40.5 | 31.3 | 34.2 | 0.801 | 1.173 | — | 17.9 | 46.9 | |
| CenterPointModality=L, Coordinate System=cart., Training Data=Full 56k data frames2026.06 | 78.5 | — | 41.9 | — | — | — | 40.3 | 30.8 | 33 | 0.872 | 0.945 | — | 20.7 | 45.8 | |
| GA-HFModality=L+F, Coordinate System=hybrid, Head=TransFusion Head2026.06 | 78.2 | — | 45.6 | — | — | — | 44.7 | 30.2 | 33.3 | 0.783 | 0.829 | — | 20.4 | 49.2 | |
| DALModality=L+F, Coordinate System=cart.2026.06 | 77.8 | — | 40.2 | — | — | — | 41.8 | 32.9 | 36.7 | 1.018 | 0.569 | — | 16.5 | 41.8 | |
| TransFusion-LModality=L, Coordinate System=cart.2026.06 | 77 | — | 45.4 | — | — | — | 42.4 | 30.8 | 32.3 | 0.811 | 0.979 | — | 18.5 | 48.7 | |
| CMTModality=L+F, Coordinate System=cart.2026.06 | 76.7 | — | 36.8 | — | — | — | 37.6 | 40.8 | 34.8 | 0.871 | 0.834 | — | 5.8 | 41.3 | |
| PolarBEVFusionModality=L+F, Coordinate System=polar, Head=CenterPoint Head, Implementation=Our re-implementation2026.06 | 76.6 | — | 36 | — | — | — | 39.7 | 34.9 | 35 | 0.96 | 0.606 | — | 14.8 | 40.4 | |
| CenterPointModality=L, Coordinate System=cart.2026.06 | 76 | — | 41.7 | — | — | — | 40.4 | 33.3 | 34 | 0.764 | 1.15 | — | 16.6 | 46.9 | |
| Cylinder3dModality=L, Coordinate System=polar, Implementation=Our re-implementation2026.06 | 75.5 | — | 37.8 | — | — | — | 39.6 | 35.8 | 34.2 | 0.897 | 0.744 | — | 14.8 | 42.3 | |
| CMT-LModality=L, Coordinate System=cart.2026.06 | 75 | — | 36.4 | — | — | — | 37.8 | 39.5 | 34.7 | 0.911 | 0.779 | — | — | 40.6 | |
| DAPETRBackbone=VovNet-992026.06 | 60.3 | — | 28.6 | — | — | — | 30.6 | 58.5 | 34.2 | 0.816 | 0.951 | 27 | 13.9 | — | |
| PETR(CAMConv)Backbone=VovNet-992026.06 | 60.2 | — | 27.9 | — | — | — | 29.9 | 60.8 | 33.9 | 0.905 | 0.874 | 27.7 | 14.6 | — | |
| PolarPETRBackbone=VovNet-992026.06 | 60.2 | — | 28 | — | — | — | 28.8 | 59.8 | 34.7 | 0.875 | 0.993 | 29.6 | 10.4 | — | |
| PETRBackbone=VovNet-992026.06 | 57.8 | — | 27.2 | — | — | — | 29 | 62.9 | 34 | 0.834 | 0.961 | 22.7 | 14 | — | |
| Oracle (GT BEV)View=BEV2024.03 | 51.79 | 26.77 | 39.28 | 49.74 | 56.62 | 53.18 | — | — | — | — | — | — | — | — | |
| Polar-BEVDetBackbone=ResNet-502026.06 | 51.7 | — | 15.3 | — | — | — | 21.9 | 65.5 | 38.4 | 0.979 | 0.846 | 15.3 | 0.2 | — | |
| BEVFormer(F2BEV)Backbone=ResNet-1012026.06 | 50.8 | — | 16.7 | — | — | — | 23.6 | 72 | 37 | 0.78 | 0.982 | 13.6 | 7.1 | — | |
| BEVFormerBackbone=ResNet-1012026.06 | 46.8 | — | 18.4 | — | — | — | 21.6 | 71.6 | 37.8 | 0.847 | 1.216 | 13.1 | 10.3 | — | |
| BEVDetBackbone=ResNet-502026.06 | 46.2 | — | 12.1 | — | — | — | 15.9 | 73.6 | 48.1 | 1.031 | 1.017 | 9.6 | 0 | — | |
| PBEV+SeaBirdView=BEV, BEV Seg Loss=None2024.03 | 45.37 | 7.64 | 26.51 | 29.72 | 53.86 | 41.79 | — | — | — | — | — | — | — | — | |
| GUP Net+View=Frontal2024.03 | 45.11 | 0.54 | 22.83 | 0.98 | 50.52 | 25.75 | — | — | — | — | — | — | — | — | |
| I2M+SeaBirdView=BEV, BEV Seg Loss=None2024.03 | 45.09 | 4.86 | 24.98 | 26.33 | 52.31 | 39.32 | — | — | — | — | — | — | — | — | |
| MonoDLE+View=Frontal2024.03 | 44.81 | 0.94 | 22.88 | 4.64 | 50.52 | 27.58 | — | — | — | — | — | — | — | — | |
| DEVIANT+View=Frontal2024.03 | 44.25 | 0.53 | 22.39 | 1.01 | 48.57 | 24.79 | — | — | — | — | — | — | — | — | |
| MonoDETRView=Frontal2024.03 | 43.24 | 0.81 | 22.02 | 4.5 | 48.69 | 26.6 | — | — | — | — | — | — | — | — | |
| I2M+SeaBirdView=BEV, BEV Seg Loss=Dice2024.03 | 43.19 | 8.71 | 25.95 | 35.76 | 52.22 | 43.99 | — | — | — | — | — | — | — | — | |
| DAP-BEVDetModality=F, Coordinate System=polar2026.06 | 42.7 | — | 9.6 | — | — | — | 16 | 73.5 | 40.6 | 1.118 | 0.96 | — | 3.3 | 19.1 | |
| PBEV+SeaBirdView=BEV, BEV Seg Loss=Dice2024.03 | 42.46 | 13.22 | 27.84 | 37.15 | 52.53 | 44.84 | — | — | — | — | — | — | — | — | |
| GrooMeD-NMS+View=Frontal2024.03 | 33.04 | 0 | 16.52 | 0 | 38.21 | 19.11 | — | — | — | — | — | — | — | — | |
| Cube R-CNN+View=Frontal2024.03 | 22.52 | 0.75 | 11.63 | 5.55 | 27.12 | 16.34 | — | — | — | — | — | — | — | — | |
| BEVDetModality=F, Coordinate System=cart.2026.06 | 19.2 | — | 3.5 | — | — | — | 5.6 | 94.5 | 74.5 | 1.127 | 1.366 | — | 0 | 6.9 |