3D Object Detection on KITTI Cyclist (test)
847AP3D EasyMonoPSR
Evaluation results
| Method | Links | ||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| MonoPSRIoU threshold=0.7, metric=AP|R402023.03 | 847 | 474 | 368 | 987 | 578 | 457 | — | — | — | — | — | — | |
| SS3DIoU threshold=0.52021.03 | 280 | 145 | 135 | 345 | 189 | 144 | — | — | — | — | — | — | |
| D4LCNIoU threshold=0.52021.03 | 245 | 167 | 136 | 272 | 182 | 179 | — | — | — | — | — | — | |
| DD3DIoU threshold=0.7, metric=AP|R402023.03 | 239 | 152 | 131 | 320 | 199 | 179 | — | — | — | — | — | — | |
| WeakMono3DIoU threshold=0.7, metric=AP|R402023.03 | 225 | 141 | 122 | 304 | 187 | 159 | — | — | — | — | — | — | |
| M3DSSDIoU threshold=0.52021.03 | 210 | 151 | 158 | 270 | 201 | 175 | — | — | — | — | — | — | |
| MonoDisIoU threshold=0.7, metric=AP|R402023.03 | 117 | 54 | 48 | 147 | 85 | 61 | — | — | — | — | — | — | |
| M3D-RPNIoU threshold=0.52021.03 | 94 | 65 | 47 | 125 | 81 | 78 | — | — | — | — | — | — | |
| M3D-RPNIoU threshold=0.7, metric=AP|R402023.03 | 94 | 65 | 47 | 125 | 81 | 78 | — | — | — | — | — | — | |
| STDModality=LiDAR2019.07 | 78.89 | 62.53 | 55.77 | — | — | — | — | — | — | — | — | — | |
| STDModality=LiDAR only2019.12 | 78.69 | 61.59 | 55.3 | — | — | — | — | — | — | — | — | — | |
| PV-RCNNModality=LiDAR only2019.12 | 78.6 | 63.71 | 57.65 | — | — | — | — | — | — | — | — | — | |
| PointPillarsModality=LiDAR only2019.12 | 77.1 | 58.65 | 51.92 | — | — | — | — | — | — | — | — | — | |
| PointPillarsModality=LiDAR2019.07 | 75.78 | 59.07 | 52.92 | — | — | — | — | — | — | — | — | — | |
| PointRCNNModality=LiDAR only2019.12 | 74.96 | 58.82 | 52.53 | — | — | — | — | — | — | — | — | — | |
| F-PointNetModality=RGB + LiDAR2019.12 | 72.27 | 56.12 | 49.01 | — | — | — | — | — | — | — | — | — | |
| F-PointNetRuntime (s)=0.172017.12 | 71.96 | 56.77 | 50.39 | 75.38 | 61.96 | 54.68 | — | — | — | — | — | — | |
| F-PointNetModality=RGB + LiDAR2019.07 | 71.96 | 56.77 | 50.39 | — | — | — | — | — | — | — | — | — | |
| SECONDModality=LiDAR only2019.12 | 71.33 | 52.08 | 45.83 | — | — | — | — | — | — | — | — | — | |
| SECONDModality=LiDAR2019.07 | 70.51 | 53.85 | 46.9 | — | — | — | — | — | — | — | — | — | |
| AVOD (Feature Pyramid)Runtime (s)=0.12017.12 | 64 | 52.18 | 46.61 | 68.06 | 57.48 | 50.77 | — | — | — | — | — | — | |
| AVOD-FPNModality=RGB + LiDAR2019.07 | 64 | 52.18 | 46.61 | — | — | — | — | — | — | — | — | — | |
| AVOD-FPNModality=RGB + LiDAR2019.12 | 63.76 | 50.55 | 44.93 | — | — | — | — | — | — | — | — | — | |
| VoxelNetRuntime (s)=0.232017.12 | 61.22 | 48.36 | 44.37 | 66.7 | 54.76 | 50.55 | — | — | — | — | — | — | |
| VoxelNetModality=LiDAR2019.07 | 61.22 | 48.36 | 44.37 | — | — | — | — | — | — | — | — | — | |
| AVODRuntime (s)=0.082017.12 | 60.11 | 44.9 | 38.8 | 63.66 | 47.74 | 46.55 | — | — | — | — | — | — | |
| AVODModality=RGB + LiDAR2019.07 | 60.11 | 44.9 | 38.8 | — | — | — | — | — | — | — | — | — | |
| OFTNetIoU threshold=0.7, metric=AP|R402023.03 | 36 | 16 | 15 | 36 | 16 | 15 | — | — | — | — | — | — | |
| DDStereo2026.06 | 34.59 | 21.8 | 18.59 | 37.92 | 24.36 | 20.87 | — | — | — | — | — | — | |
| OC-Stereo2026.06 | 29.4 | 16.63 | 14.72 | 32.47 | 19.23 | 17.11 | — | — | — | — | — | — | |
| RT3D-GMP2026.06 | 18.31 | 12.99 | 10.63 | 20.59 | 13.92 | 12.74 | — | — | — | — | — | — | |
| CMKDExtra Data=LIDAR2023.12 | 9.6 | 5.24 | 4.5 | — | — | — | — | — | — | — | — | — | |
| MonoDGP (+SPAN)Extra data=None2025.11 | 8.08 | 4.78 | 3.96 | — | — | — | — | — | — | — | — | — | |
| OccupancyM3DExtra data=LiDAR2025.11 | 7.37 | 3.56 | 2.84 | — | — | — | — | — | — | — | — | — | |
| MonoLSSExtra Data=None2023.12 | 7.23 | 4.34 | 3.92 | — | — | — | — | — | — | — | — | — | |
| CaDDNExtra=LiDAR2022.07 | 7 | 3.41 | 3.3 | — | — | — | — | — | — | — | — | — | |
| CaDDNExtra Data=LIDAR2023.12 | 7 | 3.41 | 3.3 | — | — | — | — | — | — | — | — | — | |
| CaDDNExtra data=LiDAR2025.11 | 7 | 3.41 | 3.3 | — | — | — | — | — | — | — | — | — | |
| GUPNet++Extra data=None2025.11 | 6.71 | 3.91 | 3.8 | — | — | — | — | — | — | — | — | — | |
| GUPNet++2026.06 | 6.71 | 3.91 | 3.8 | — | — | — | — | — | — | — | — | — | |
| MonoDDEExtra Data=None2023.12 | 5.94 | 3.78 | 3.33 | — | — | — | — | — | — | — | — | — | |
| MonoPGCExtra data=Depth2025.11 | 5.88 | 3.3 | 2.85 | — | — | — | — | — | — | — | — | — | |
| DFR-NetExtra=Depth2022.07 | 5.69 | 3.58 | 3.1 | — | — | — | — | — | — | — | — | — | |
| DFR-NetExtra Data=Depth2023.12 | 5.69 | 3.58 | 3.1 | — | — | — | — | — | — | — | — | — | |
| GUPNetExtra Data=None2023.12 | 5.58 | 3.21 | 2.66 | — | — | — | — | — | — | — | — | — | |
| MonoDistillExtra=Depth2022.07 | 5.53 | 2.81 | 2.4 | — | — | — | — | — | — | — | — | — | |
| RT3DStereo2026.06 | 5.29 | 3.37 | 2.57 | 7.03 | 4.1 | 3.88 | — | — | — | — | — | — | |
| MonoDGPExtra data=None2025.11 | 5.28 | 2.82 | 2.65 | — | — | — | — | — | — | — | — | — | |
| MonoDETRExtra data=None2025.11 | 5.12 | 2.74 | 2.02 | — | — | — | — | — | — | — | — | — | |
| DEVIANTExtra=Image-only2022.07 | 5.05 | 3.13 | 2.59 | — | — | — | — | — | — | — | — | — | |
| MonoDTRExtra Data=None2023.12 | 5.05 | 3.27 | 3.19 | — | — | — | — | — | — | — | — | — | |
| DEVIANTExtra data=None2025.11 | 5.05 | 3.13 | 2.59 | — | — | — | — | — | — | — | — | — | |
| MonoDTR2026.06 | 5.05 | 3.27 | 3.19 | 5.84 | 4.11 | 3.48 | — | — | — | — | — | — | |
| DDMP-3DExtra=Depth2022.07 | 4.18 | 2.5 | 2.32 | — | — | — | — | — | — | — | — | — | |
| GUP NetExtra=Image-only2022.07 | 4.18 | 2.65 | 2.09 | — | — | — | — | — | — | — | — | — | |
| GUPNetExtra data=None2025.11 | 4.18 | 2.65 | 2.09 | — | — | — | — | — | — | — | — | — | |
| MonoPairIoU threshold=0.72020.03 | 3.79 | 2.12 | 1.83 | 4.76 | 2.87 | 2.42 | — | — | — | — | — | — | |
| MonoFlexExtra=Image-only2022.07 | 3.39 | 2.1 | 1.67 | — | — | — | — | — | — | — | — | — | |
| MonoConExtra Data=None2023.12 | 2.8 | 1.92 | 1.55 | — | — | — | — | — | — | — | — | — | |
| MonoConExtra data=None2025.11 | 2.8 | 1.92 | 1.55 | — | — | — | — | — | — | — | — | — | |
| DD3DExtra=LiDAR2022.07 | 2.39 | 1.52 | 1.31 | — | — | — | — | — | — | — | — | — | |
| DD3DExtra Data=Depth2023.12 | 2.39 | 1.52 | 1.31 | — | — | — | — | — | — | — | — | — | |
| MonoEFExtra=Odometry2022.07 | 1.8 | 0.92 | 0.71 | — | — | — | — | — | — | — | — | — | |
| MonoDIS-MExtra=Image-only2022.07 | 1.17 | 0.54 | 0.48 | — | — | — | — | — | — | — | — | — | |
| M3D-RPNIoU threshold=0.72020.03 | 0.94 | 0.65 | 0.47 | 1.25 | 0.81 | 0.78 | — | — | — | — | — | — | |
| CaDDN2022.05 | — | — | — | — | — | — | — | — | — | 700 | 341 | 330 | |
| DFR-Net2022.05 | — | — | — | — | — | — | — | — | — | 569 | 358 | 310 | |
| M3D-RPN2021.03 | — | — | — | — | — | — | 94 | 65 | 47 | — | — | — | |
| M3D-RPN2022.05 | — | — | — | — | — | — | — | — | — | 94 | 65 | 47 | |
| MonoDDE2022.05 | — | — | — | — | — | — | — | — | — | 594 | 378 | 333 | |
| MonoFlex2022.05 | — | — | — | — | — | — | — | — | — | 417 | 235 | 204 | |
| MonoPair2021.03 | — | — | — | — | — | — | 379 | 212 | 183 | — | — | — | |
| MonoPair2022.05 | — | — | — | — | — | — | — | — | — | 379 | 212 | 183 | |
| MonoPSR2021.03 | — | — | — | — | — | — | 837 | 474 | 368 | — | — | — | |
| MonoRUn2021.03 | — | — | — | — | — | — | 101 | 61 | 48 | — | — | — | |
| SSD3DIoU threshold=0.7, metric=AP|R402023.03 | — | — | — | 345 | 189 | 144 | — | — | — | — | — | — |