# 3D Object Detection on KITTI Close (0m-40m) (val)

Source: [3D Object Detection on KITTI Close (0m-40m) (val)](<https://www.sota2.com/research/sota/3d-object-detection-on-kitti-close-0m-40m-val>)

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

Data updated: 2026-02-26T05:48:06.629Z

Evaluation of 3D Object Detection performance on the close-range subset (0m-40m) of the KITTI validation set, reporting metrics such as LDS and mAP.

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 Close (0m-40m) (val) |
| Metric | LDS |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 18 of 18 |
| 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

- [LDS](<https://www.sota2.com/research/sota/3d-object-detection-on-kitti-close-0m-40m-val.md?metric=LDS>): Higher is better; unit: PERCENT.

- [mAP](<https://www.sota2.com/research/sota/3d-object-detection-on-kitti-close-0m-40m-val.md?metric=mAP>): Higher is better; unit: PERCENT.

## Recorded results

| Method | LDS | Result date | Report paper |
| --- | --- | --- | --- |
| MonoFlex | 59.3 | Not recorded | 68fa727d1e209131cea56b7c |
| DID-M3D | 58.9 | Not recorded | 68fa727d1e209131cea56b7c |
| DID-M3D + LR3D teacher | 58.7 | Not recorded | 68fa727d1e209131cea56b7c |
| CaDDN | 58.5 | Not recorded | 68fa727d1e209131cea56b7c |
| DID-M3D | 58.5 | Not recorded | 68fa727d1e209131cea56b7c |
| CaDDN | 57.8 | Not recorded | 68fa727d1e209131cea56b7c |
| MonoFlex | 57.7 | Not recorded | 68fa727d1e209131cea56b7c |
| CaDDN + LR3D teacher | 57.6 | Not recorded | 68fa727d1e209131cea56b7c |
| MonoFlex + LR3D teacher | 57.3 | Not recorded | 68fa727d1e209131cea56b7c |
| GUPNet + LR3D teacher | 54.2 | Not recorded | 68fa727d1e209131cea56b7c |
| GUPNet | 54 | Not recorded | 68fa727d1e209131cea56b7c |
| GUPNet | 54 | Not recorded | 68fa727d1e209131cea56b7c |
| LR3D (IP-FCOS3D) | 52.1 | Not recorded | 68fa727d1e209131cea56b7c |
| FCOS3D | 50.5 | Not recorded | 68fa727d1e209131cea56b7c |
| FCOS3D | 49.9 | Not recorded | 68fa727d1e209131cea56b7c |
| ImVoxelNet | 48.6 | Not recorded | 68fa727d1e209131cea56b7c |
| ImVoxelNet | 48.1 | Not recorded | 68fa727d1e209131cea56b7c |
| ImVoxelNet + LR3D teacher | 47.9 | Not recorded | 68fa727d1e209131cea56b7c |

### MonoFlex

LDS: 59.3. Result ID: 69923ddb3a6c3148490d8e28.

[Reporting paper](<https://www.sota2.com/research/paper/68fa727d1e209131cea56b7c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69ad1e209131cea234cb.md>)

[Implementation](<https://github.com/zhangyp15/MonoFlex>)

Recorded evaluation configuration: {"Distant 3D Groundtruth":false}. This record does not assert independent reproduction.

### DID-M3D

LDS: 58.9. Result ID: 69923ddb3a6c3148490d8e2e.

[Reporting paper](<https://www.sota2.com/research/paper/68fa727d1e209131cea56b7c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d121e209131cea376ed.md>)

Recorded evaluation configuration: {"Distant 3D Groundtruth":false}. This record does not assert independent reproduction.

### DID-M3D + LR3D teacher

LDS: 58.7. Result ID: 69923ddb3a6c3148490d8e2f.

[Reporting paper](<https://www.sota2.com/research/paper/68fa727d1e209131cea56b7c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa727d1e209131cea56b7c.md>)

Recorded evaluation configuration: {"Distant 3D Groundtruth":false}. This record does not assert independent reproduction.

### CaDDN

LDS: 58.5. Result ID: 69923ddb3a6c3148490d8e25.

[Reporting paper](<https://www.sota2.com/research/paper/68fa727d1e209131cea56b7c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69911e209131cea22b69.md>)

Recorded evaluation configuration: {"Distant 3D Groundtruth":false}. This record does not assert independent reproduction.

### DID-M3D

LDS: 58.5. Result ID: 69923ddb3a6c3148490d8e2d.

[Reporting paper](<https://www.sota2.com/research/paper/68fa727d1e209131cea56b7c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d121e209131cea376ed.md>)

Recorded evaluation configuration: {"Distant 3D Groundtruth":true}. This record does not assert independent reproduction.

### CaDDN

LDS: 57.8. Result ID: 69923ddb3a6c3148490d8e24.

[Reporting paper](<https://www.sota2.com/research/paper/68fa727d1e209131cea56b7c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69911e209131cea22b69.md>)

Recorded evaluation configuration: {"Distant 3D Groundtruth":true}. This record does not assert independent reproduction.

### MonoFlex

LDS: 57.7. Result ID: 69923ddb3a6c3148490d8e27.

[Reporting paper](<https://www.sota2.com/research/paper/68fa727d1e209131cea56b7c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69ad1e209131cea234cb.md>)

[Implementation](<https://github.com/zhangyp15/MonoFlex>)

Recorded evaluation configuration: {"Distant 3D Groundtruth":true}. This record does not assert independent reproduction.

### CaDDN + LR3D teacher

LDS: 57.6. Result ID: 69923ddb3a6c3148490d8e26.

[Reporting paper](<https://www.sota2.com/research/paper/68fa727d1e209131cea56b7c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa727d1e209131cea56b7c.md>)

Recorded evaluation configuration: {"Distant 3D Groundtruth":false}. This record does not assert independent reproduction.

### MonoFlex + LR3D teacher

LDS: 57.3. Result ID: 69923ddb3a6c3148490d8e29.

[Reporting paper](<https://www.sota2.com/research/paper/68fa727d1e209131cea56b7c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa727d1e209131cea56b7c.md>)

Recorded evaluation configuration: {"Distant 3D Groundtruth":false}. This record does not assert independent reproduction.

### GUPNet + LR3D teacher

LDS: 54.2. Result ID: 69923ddb3a6c3148490d8e2c.

[Reporting paper](<https://www.sota2.com/research/paper/68fa727d1e209131cea56b7c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa727d1e209131cea56b7c.md>)

Recorded evaluation configuration: {"Distant 3D Groundtruth":false}. This record does not assert independent reproduction.

### GUPNet

LDS: 54. Result ID: 69923ddb3a6c3148490d8e2a.

[Reporting paper](<https://www.sota2.com/research/paper/68fa727d1e209131cea56b7c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6a921e209131cea28f88.md>)

[Implementation](<https://github.com/SuperMHP/GUPNet>)

Recorded evaluation configuration: {"Distant 3D Groundtruth":true}. This record does not assert independent reproduction.

### GUPNet

LDS: 54. Result ID: 69923ddb3a6c3148490d8e2b.

[Reporting paper](<https://www.sota2.com/research/paper/68fa727d1e209131cea56b7c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6a921e209131cea28f88.md>)

[Implementation](<https://github.com/SuperMHP/GUPNet>)

Recorded evaluation configuration: {"Distant 3D Groundtruth":false}. This record does not assert independent reproduction.

### LR3D (IP-FCOS3D)

LDS: 52.1. Result ID: 69923ddb3a6c3148490d8e20.

[Reporting paper](<https://www.sota2.com/research/paper/68fa727d1e209131cea56b7c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa727d1e209131cea56b7c.md>)

Recorded evaluation configuration: {"Distant 3D Groundtruth":false}. This record does not assert independent reproduction.

### FCOS3D

LDS: 50.5. Result ID: 69923ddb3a6c3148490d8e1f.

[Reporting paper](<https://www.sota2.com/research/paper/68fa727d1e209131cea56b7c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6adc1e209131cea2adb5.md>)

[Implementation](<https://github.com/open-mmlab/mmdetection3d>)

Recorded evaluation configuration: {"Distant 3D Groundtruth":false}. This record does not assert independent reproduction.

### FCOS3D

LDS: 49.9. Result ID: 69923ddb3a6c3148490d8e1e.

[Reporting paper](<https://www.sota2.com/research/paper/68fa727d1e209131cea56b7c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6adc1e209131cea2adb5.md>)

[Implementation](<https://github.com/open-mmlab/mmdetection3d>)

Recorded evaluation configuration: {"Distant 3D Groundtruth":true}. This record does not assert independent reproduction.

### ImVoxelNet

LDS: 48.6. Result ID: 69923ddb3a6c3148490d8e22.

[Reporting paper](<https://www.sota2.com/research/paper/68fa727d1e209131cea56b7c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6b101e209131cea2be2f.md>)

[Implementation](<https://github.com/saic-vul/imvoxelnet>)

Recorded evaluation configuration: {"Distant 3D Groundtruth":false}. This record does not assert independent reproduction.

### ImVoxelNet

LDS: 48.1. Result ID: 69923ddb3a6c3148490d8e21.

[Reporting paper](<https://www.sota2.com/research/paper/68fa727d1e209131cea56b7c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6b101e209131cea2be2f.md>)

[Implementation](<https://github.com/saic-vul/imvoxelnet>)

Recorded evaluation configuration: {"Distant 3D Groundtruth":true}. This record does not assert independent reproduction.

### ImVoxelNet + LR3D teacher

LDS: 47.9. Result ID: 69923ddb3a6c3148490d8e23.

[Reporting paper](<https://www.sota2.com/research/paper/68fa727d1e209131cea56b7c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa727d1e209131cea56b7c.md>)

Recorded evaluation configuration: {"Distant 3D Groundtruth":false}. This record does not assert independent reproduction.

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