3D Object Detection on KITTI Car (val)
95.47AP 3D EasySFD
Evaluation results
| Method | Links | |||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| SFDRecall Positions=R402022.03 | 95.47 | — | — | — | — | — | — | — | — | — | — | — | — | 88.56 | 85.74 | — | — | — | — | — | — | — | — | — | — | |
| SE-SSDRecall Positions=R402022.03 | 93.19 | — | — | — | — | — | — | — | — | — | — | — | — | 86.12 | 83.31 | — | — | — | — | — | — | — | — | — | — | |
| CLOCS PVCasRecall Positions=R402022.03 | 92.78 | — | — | — | — | — | — | — | — | — | — | — | — | 85.94 | 83.25 | — | — | — | — | — | — | — | — | — | — | |
| PV-RCNNRecall Positions=R402022.03 | 92.57 | — | — | — | — | — | — | — | — | — | — | — | — | 84.83 | 82.69 | — | — | — | — | — | — | — | — | — | — | |
| DiffFusionType=Multi-modal2025.12 | 92.42 | — | — | — | — | — | — | — | — | — | — | — | — | 85.14 | 82.85 | 86.8 | — | — | — | — | — | — | — | — | — | |
| Voxel-RCNNRecall Positions=R402022.03 | 92.38 | — | — | — | — | — | — | — | — | — | — | — | — | 85.29 | 82.86 | — | — | — | — | — | — | — | — | — | — | |
| EPNetType=Multi-modal2025.12 | 92.29 | — | — | — | — | — | — | — | — | — | — | — | — | 82.72 | 80.16 | 85.06 | — | — | — | — | — | — | — | — | — | |
| EPNetRecall Positions=R402022.03 | 92.28 | — | — | — | — | — | — | — | — | — | — | — | — | 82.59 | 80.14 | — | — | — | — | — | — | — | — | — | — | |
| PV-RCNNType=LiDAR-Only2025.12 | 92.1 | — | — | — | — | — | — | — | — | — | — | — | — | 84.39 | 82.49 | 85.66 | — | — | — | — | — | — | — | — | — | |
| LoGoNetType=Multi-modal2025.12 | 92.04 | — | — | — | — | — | — | — | — | — | — | — | — | 85.04 | 84.31 | 87.13 | — | — | — | — | — | — | — | — | — | |
| Focals Conv-FType=Multi-modal2025.12 | 92 | — | — | — | — | — | — | — | — | — | — | — | — | 85.88 | 83.36 | 87.08 | — | — | — | — | — | — | — | — | — | |
| Part-A2Type=LiDAR-Only2025.12 | 91.68 | — | — | — | — | — | — | — | — | — | — | — | — | 82.45 | 80.22 | 84.78 | — | — | — | — | — | — | — | — | — | |
| PointRCNNType=LiDAR-Only2025.12 | 91.65 | — | — | — | — | — | — | — | — | — | — | — | — | 80.57 | 78.06 | 83.43 | — | — | — | — | — | — | — | — | — | |
| 3DSSDType=LiDAR-Only2025.12 | 91.07 | — | — | — | — | — | — | — | — | — | — | — | — | 80.03 | 78.23 | 83.11 | — | — | — | — | — | — | — | — | — | |
| SOP2+LoRATrainable Params=0.84M2025.12 | 90.79 | — | — | — | — | — | — | — | — | — | — | — | — | 82.17 | 80.38 | — | — | — | — | — | — | — | — | — | — | |
| SOP2Trainable Params=0.82M2025.12 | 90.72 | — | — | — | — | — | — | — | — | — | — | — | — | 82.07 | 80.34 | — | — | — | — | — | — | — | — | — | — | |
| SECONDType=LiDAR-Only2025.12 | 90.53 | — | — | — | — | — | — | — | — | — | — | — | — | 81.59 | 78.57 | 83.56 | — | — | — | — | — | — | — | — | — | |
| SA-SSD2023.03 | 90.15 | — | — | — | — | — | — | — | — | — | — | — | — | 79.91 | 78.78 | 82.95 | — | — | — | — | — | — | — | — | — | |
| From ScratchTrainable Params=8.65M2025.12 | 90.08 | — | — | — | — | — | — | — | — | — | — | — | — | 81.88 | 80.22 | — | — | — | — | — | — | — | — | — | — | |
| Full Fine-tuneTrainable Params=8.65M2025.12 | 89.85 | — | — | — | — | — | — | — | — | — | — | — | — | 83.32 | 81.19 | — | — | — | — | — | — | — | — | — | — | |
| OcTr2023.03 | 89.8 | — | — | — | — | — | — | — | — | — | — | — | — | 86.97 | 79.28 | 85.35 | — | — | — | — | — | — | — | — | — | |
| SFDRecall Positions=R112022.03 | 89.74 | — | — | — | — | — | — | — | — | — | — | — | — | 87.12 | 85.2 | — | — | — | — | — | — | — | — | — | — | |
| 3DSSD2023.03 | 89.71 | — | — | — | — | — | — | — | — | — | — | — | — | 79.45 | 78.67 | 82.61 | — | — | — | — | — | — | — | — | — | |
| STD2023.03 | 89.7 | — | — | — | — | — | — | — | — | — | — | — | — | 79.8 | 79.3 | 82.93 | — | — | — | — | — | — | — | — | — | |
| 3D-CVFRecall Positions=R402022.03 | 89.67 | — | — | — | — | — | — | — | — | — | — | — | — | 79.88 | 78.47 | — | — | — | — | — | — | — | — | — | — | |
| CT3D2023.03 | 89.54 | — | — | — | — | — | — | — | — | — | — | — | — | 86.06 | 78.99 | 84.86 | — | — | — | — | — | — | — | — | — | |
| Focals Conv2023.03 | 89.52 | — | — | — | — | — | — | — | — | — | — | — | — | 84.93 | 79.18 | 84.54 | — | — | — | — | — | — | — | — | — | |
| Voxel-RCNNRecall Positions=R112022.03 | 89.41 | — | — | — | — | — | — | — | — | — | — | — | — | 84.52 | 78.93 | — | — | — | — | — | — | — | — | — | — | |
| Voxel-RCNN2023.03 | 89.41 | — | — | — | — | — | — | — | — | — | — | — | — | 84.52 | 78.93 | 84.29 | — | — | — | — | — | — | — | — | — | |
| Pyramid-PVRecall Positions=R112022.03 | 89.37 | — | — | — | — | — | — | — | — | — | — | — | — | 84.38 | 78.84 | — | — | — | — | — | — | — | — | — | — | |
| PV-RCNNRecall Positions=R112022.03 | 89.35 | — | — | — | — | — | — | — | — | — | — | — | — | 83.69 | 78.7 | — | — | — | — | — | — | — | — | — | — | |
| PV-RCNN2023.03 | 89.35 | — | — | — | — | — | — | — | — | — | — | — | — | 83.69 | 78.7 | 83.91 | — | — | — | — | — | — | — | — | — | |
| VoxSet2023.03 | 89.21 | — | — | — | — | — | — | — | — | — | — | — | — | 86.71 | 78.56 | 84.83 | — | — | — | — | — | — | — | — | — | |
| VoTR-TSD2023.03 | 89.04 | — | — | — | — | — | — | — | — | — | — | — | — | 84.04 | 78.68 | 83.92 | — | — | — | — | — | — | — | — | — | |
| Prompt GeneratorTrainable Params=1.64M2025.12 | 89.03 | — | — | — | — | — | — | — | — | — | — | — | — | 80.44 | 79.13 | — | — | — | — | — | — | — | — | — | — | |
| LoRATrainable Params=0.47M2025.12 | 89 | — | — | — | — | — | — | — | — | — | — | — | — | 80.9 | 79.45 | — | — | — | — | — | — | — | — | — | — | |
| SECOND2023.03 | 88.61 | — | — | — | — | — | — | — | — | — | — | — | — | 78.62 | 77.22 | 81.48 | — | — | — | — | — | — | — | — | — | |
| Prompt TokenTrainable Params=0.45M2025.12 | 88.55 | — | — | — | — | — | — | — | — | — | — | — | — | 78.78 | 77.65 | — | — | — | — | — | — | — | — | — | — | |
| Head Fine-tuneTrainable Params=0.45M2025.12 | 88.51 | — | — | — | — | — | — | — | — | — | — | — | — | 78.87 | 77.45 | — | — | — | — | — | — | — | — | — | — | |
| UberATG-MMFRecall Positions=R112022.03 | 88.4 | — | — | — | — | — | — | — | — | — | — | — | — | 77.43 | 70.22 | — | — | — | — | — | — | — | — | — | — | |
| BitFitTrainable Params=0.47M2025.12 | 88.14 | — | — | — | — | — | — | — | — | — | — | — | — | 79.94 | 79.28 | — | — | — | — | — | — | — | — | — | — | |
| PointPillarsType=LiDAR-Only2025.12 | 87.75 | — | — | — | — | — | — | — | — | — | — | — | — | 78.41 | 75.19 | 80.45 | — | — | — | — | — | — | — | — | — | |
| PointPillars2023.03 | 86.62 | — | — | — | — | — | — | — | — | — | — | — | — | 76.06 | 68.91 | 77.2 | — | — | — | — | — | — | — | — | — | |
| SE-SSDRecall Positions=R112022.03 | 85.71 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MonoDETR+Ours2026.03 | 32.24 | — | — | — | — | — | — | — | — | — | — | — | — | 22.06 | 18.5 | — | — | — | — | — | — | — | — | — | — | |
| MonoDGP (+SPAN)Extra data=None2025.11 | 30.98 | — | — | — | — | — | — | — | — | — | — | — | — | 23.26 | 20.17 | — | — | — | — | — | — | — | — | — | — | |
| MonoDGPExtra data=None2024.10 | 30.76 | — | — | — | — | — | — | — | — | — | — | — | — | 22.34 | 19.02 | — | — | — | — | — | — | — | — | — | — | |
| MonoDGPExtra data=None2025.11 | 30.76 | — | — | — | — | — | — | — | — | — | — | — | — | 22.34 | 19.02 | — | — | — | — | — | — | — | — | — | — | |
| SMOKE*IoU threshold=0.5, Model Type=ANN, Parameters (M)=19.51, Power (pJ)=2.17E+11, Runtime (s)=0.032025.06 | 29.16 | — | — | — | — | — | — | — | — | — | — | — | — | 25.22 | 21.47 | — | — | — | — | — | — | — | — | — | — | |
| GUPNet++Extra data=None2025.11 | 29.03 | — | — | — | — | — | — | — | — | — | — | — | — | 20.45 | 17.89 | — | — | — | — | — | — | — | — | — | — | |
| MonoDETRExtra data=None2024.10 | 28.84 | — | — | — | — | — | — | — | — | — | — | — | — | 20.61 | 16.38 | — | — | — | — | — | — | — | — | — | — | |
| MonoDETR2026.03 | 28.84 | — | — | — | — | — | — | — | — | — | — | — | — | 20.61 | 16.38 | — | — | — | — | — | — | — | — | — | — | |
| MonoDETRExtra data=None2025.11 | 28.84 | — | — | — | — | — | — | — | — | — | — | — | — | 20.61 | 16.38 | — | — | — | — | — | — | — | — | — | — | |
| SpikeSMOKE-CSGCIoU threshold=0.5, Model Type=SNN, Parameters (M)=19.56, Power (pJ)=6.04E+10, Runtime (s)=0.1052025.06 | 28.83 | — | — | — | — | — | — | — | — | — | — | — | — | 22.75 | 19.44 | — | — | — | — | — | — | — | — | — | — | |
| MoVisExtra data=None2025.11 | 28.46 | — | — | — | — | — | — | — | — | — | — | — | — | 20.77 | 17.7 | — | — | — | — | — | — | — | — | — | — | |
| FD3DExtra data=None2024.10 | 28.22 | — | — | — | — | — | — | — | — | — | — | — | — | 20.23 | 17.04 | — | — | — | — | — | — | — | — | — | — | |
| FD3DExtra data=None2025.11 | 28.22 | — | — | — | — | — | — | — | — | — | — | — | — | 20.23 | 17.04 | — | — | — | — | — | — | — | — | — | — | |
| PDR2026.03 | 27.65 | — | — | — | — | — | — | — | — | — | — | — | — | 19.44 | 16.24 | — | — | — | — | — | — | — | — | — | — | |
| Monocon+Ours2026.03 | 27.13 | — | — | — | — | — | — | — | — | — | — | — | — | 20.57 | 17.4 | — | — | — | — | — | — | — | — | — | — | |
| OccupancyM3DExtra data=LiDAR2024.10 | 26.87 | — | — | — | — | — | — | — | — | — | — | — | — | 19.96 | 17.15 | — | — | — | — | — | — | — | — | — | — | |
| OccupancyM3DExtra data=LiDAR2025.11 | 26.87 | — | — | — | — | — | — | — | — | — | — | — | — | 19.96 | 17.15 | — | — | — | — | — | — | — | — | — | — | |
| MonoDDEExtra data=None2024.10 | 26.66 | — | — | — | — | — | — | — | — | — | — | — | — | 19.75 | 16.72 | — | — | — | — | — | — | — | — | — | — | |
| MonoCDExtra data=None2024.10 | 26.45 | — | — | — | — | — | — | — | — | — | — | — | — | 19.37 | 16.38 | — | — | — | — | — | — | — | — | — | — | |
| MonoCDExtra data=None2025.11 | 26.45 | — | — | — | — | — | — | — | — | — | — | — | — | 19.37 | 16.38 | — | — | — | — | — | — | — | — | — | — | |
| MonoConExtra data=None2024.10 | 26.33 | — | — | — | — | — | — | — | — | — | — | — | — | 19.01 | 15.98 | — | — | — | — | — | — | — | — | — | — | |
| Monocon2026.03 | 26.33 | — | — | — | — | — | — | — | — | — | — | — | — | 19.01 | 15.98 | — | — | — | — | — | — | — | — | — | — | |
| MonoConExtra data=None2025.11 | 26.33 | — | — | — | — | — | — | — | — | — | — | — | — | 19.01 | 15.98 | — | — | — | — | — | — | — | — | — | — | |
| MonoLSSIoU threshold=0.7, Model Type=ANN, Parameters (M)=21.51, Power (pJ)=2.81E+11, Runtime (s)=0.0352025.06 | 25.91 | — | — | — | — | — | — | — | — | — | — | — | — | 18.29 | 15.94 | — | — | — | — | — | — | — | — | — | — | |
| MonoPGCExtra data=Depth2024.10 | 25.67 | — | — | — | — | — | — | — | — | — | — | — | — | 18.63 | 15.65 | — | — | — | — | — | — | — | — | — | — | |
| MonoPGCExtra data=Depth2025.11 | 25.67 | — | — | — | — | — | — | — | — | — | — | — | — | 18.63 | 15.65 | — | — | — | — | — | — | — | — | — | — | |
| MonoGround2026.03 | 25.24 | — | — | — | — | — | — | — | — | — | — | — | — | 18.69 | 15.58 | — | — | — | — | — | — | — | — | — | — | |
| OPA-3DExtra data=Depth2024.10 | 24.97 | — | — | — | — | — | — | — | — | — | — | — | — | 19.4 | 16.59 | — | — | — | — | — | — | — | — | — | — | |
| OPA-3DExtra data=Depth2025.11 | 24.97 | — | — | — | — | — | — | — | — | — | — | — | — | 19.4 | 16.59 | — | — | — | — | — | — | — | — | — | — | |
| Shape-Aware2026.03 | 24.92 | — | — | — | — | — | — | — | — | — | — | — | — | 18.39 | 15.56 | — | — | — | — | — | — | — | — | — | — | |
| CMAN2026.03 | 24.91 | — | — | — | — | — | — | — | — | — | — | — | — | 16.75 | 12.46 | — | — | — | — | — | — | — | — | — | — | |
| DEVIANTExtra data=None2024.10 | 24.63 | — | — | — | — | — | — | — | — | — | — | — | — | 16.54 | 14.52 | — | — | — | — | — | — | — | — | — | — | |
| DEVIANT2026.03 | 24.63 | — | — | — | — | — | — | — | — | — | — | — | — | 16.54 | 14.52 | — | — | — | — | — | — | — | — | — | — | |
| MonoDTRExtra data=LiDAR2024.10 | 24.52 | — | — | — | — | — | — | — | — | — | — | — | — | 18.57 | 15.51 | — | — | — | — | — | — | — | — | — | — | |
| MonoDTR2026.03 | 24.52 | — | — | — | — | — | — | — | — | — | — | — | — | 18.57 | 15.51 | — | — | — | — | — | — | — | — | — | — | |
| MonoDTRIoU threshold=0.7, Model Type=ANN, Parameters (M)=54.25, Power (pJ)=5.42E+11, Runtime (s)=0.0372025.06 | 24.52 | — | — | — | — | — | — | — | — | — | — | — | — | 18.57 | 15.51 | — | — | — | — | — | — | — | — | — | — | |
| MonoUNIExtra data=None2024.10 | 24.51 | — | — | — | — | — | — | — | — | — | — | — | — | 17.18 | 14.01 | — | — | — | — | — | — | — | — | — | — | |
| Monodistill2026.03 | 24.31 | — | — | — | — | — | — | — | — | — | — | — | — | 18.47 | 15.76 | — | — | — | — | — | — | — | — | — | — | |
| DCD2026.03 | 23.94 | — | — | — | — | — | — | — | — | — | — | — | — | 17.38 | 15.32 | — | — | — | — | — | — | — | — | — | — | |
| MonoFlex2026.03 | 23.64 | — | — | — | — | — | — | — | — | — | — | — | — | 17.51 | 14.83 | — | — | — | — | — | — | — | — | — | — | |
| CaDDNExtra data=LiDAR2024.10 | 23.57 | — | — | — | — | — | — | — | — | — | — | — | — | 16.31 | 13.84 | — | — | — | — | — | — | — | — | — | — | |
| CaDDN2026.03 | 23.57 | — | — | — | — | — | — | — | — | — | — | — | — | 16.31 | 13.84 | — | — | — | — | — | — | — | — | — | — | |
| CaDDNExtra data=LiDAR2025.11 | 23.57 | — | — | — | — | — | — | — | — | — | — | — | — | 16.31 | 13.84 | — | — | — | — | — | — | — | — | — | — | |
| Homo2026.03 | 23.04 | — | — | — | — | — | — | — | — | — | — | — | — | 16.89 | 14.9 | — | — | — | — | — | — | — | — | — | — | |
| DID-M3DExtra data=LiDAR2024.10 | 22.98 | — | — | — | — | — | — | — | — | — | — | — | — | 16.12 | 14.03 | — | — | — | — | — | — | — | — | — | — | |
| MonoPoly2026.03 | 22.94 | — | — | — | — | — | — | — | — | — | — | — | — | 16.13 | 13.01 | — | — | — | — | — | — | — | — | — | — | |
| GUPNetExtra data=None2024.10 | 22.76 | — | — | — | — | — | — | — | — | — | — | — | — | 16.46 | 13.72 | — | — | — | — | — | — | — | — | — | — | |
| GupNet2026.03 | 22.76 | — | — | — | — | — | — | — | — | — | — | — | — | 16.46 | 13.72 | — | — | — | — | — | — | — | — | — | — | |
| GUPNetExtra data=None2025.11 | 22.76 | — | — | — | — | — | — | — | — | — | — | — | — | 16.46 | 13.72 | — | — | — | — | — | — | — | — | — | — | |
| SpikeSMOKEIoU threshold=0.5, Model Type=SNN, Parameters (M)=19.51, Power (pJ)=5.97E+10, Runtime (s)=0.092025.06 | 20.87 | — | — | — | — | — | — | — | — | — | — | — | — | 19.72 | 16.89 | — | — | — | — | — | — | — | — | — | — | |
| MonoNeRDExtra data=LiDAR2025.11 | 20.64 | — | — | — | — | — | — | — | — | — | — | — | — | 15.44 | 13.99 | — | — | — | — | — | — | — | — | — | — | |
| Context-Aware2026.03 | 20.15 | — | — | — | — | — | — | — | — | — | — | — | — | 16.09 | 15.59 | — | — | — | — | — | — | — | — | — | — | |
| AutoShape2026.03 | 20.09 | — | — | — | — | — | — | — | — | — | — | — | — | 14.65 | 12.07 | — | — | — | — | — | — | — | — | — | — | |
| MonoRUn2026.03 | 20.02 | — | — | — | — | — | — | — | — | — | — | — | — | 14.65 | 12.61 | — | — | — | — | — | — | — | — | — | — | |
| MonoRCNN2026.03 | 19.07 | — | — | — | — | — | — | — | — | — | — | — | — | 14.87 | 12.59 | — | — | — | — | — | — | — | — | — | — | |
| MonoEF2026.03 | 18.26 | — | — | — | — | — | — | — | — | — | — | — | — | 16.3 | 15.24 | — | — | — | — | — | — | — | — | — | — |