# 3D Object Detection on KITTI Foggy (AP3D Difficulty)

Source: [3D Object Detection on KITTI Foggy (AP3D Difficulty)](<https://www.sota2.com/research/sota/3d-object-detection-on-kitti-foggy-ap3d-difficulty>)

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

Data updated: 2026-04-03T07:57:24.826Z

Evaluation of 3D Object Detection performance on the KITTI Foggy dataset, reporting Average Precision segmented by difficulty levels (Easy, Moderate, Hard).

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 Foggy |
| Metric | AP3D (Easy) |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 6 of 6 |
| 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 (Easy)](<https://www.sota2.com/research/sota/3d-object-detection-on-kitti-foggy-ap3d-difficulty.md?metric=AP3D%20(Easy)>): Higher is better; unit: PERCENT.

- [AP3D (Moderate)](<https://www.sota2.com/research/sota/3d-object-detection-on-kitti-foggy-ap3d-difficulty.md?metric=AP3D%20(Moderate)>): Higher is better; unit: PERCENT.

- [AP3D (Hard)](<https://www.sota2.com/research/sota/3d-object-detection-on-kitti-foggy-ap3d-difficulty.md?metric=AP3D%20(Hard)>): Higher is better; unit: PERCENT.

## Recorded results

| Method | AP3D (Easy) | Result date | Report paper |
| --- | --- | --- | --- |
| MonoSAOD | 19.11 | Not recorded | 69cf497c0636e5bf4afcd9ca |
| Calibrated Teacher | 11.97 | Not recorded | 69cf497c0636e5bf4afcd9ca |
| Co-student | 11.57 | Not recorded | 69cf497c0636e5bf4afcd9ca |
| SparseDet | 11.4 | Not recorded | 69cf497c0636e5bf4afcd9ca |
| Co-mining | 11.22 | Not recorded | 69cf497c0636e5bf4afcd9ca |
| Baseline | 11.1 | Not recorded | 69cf497c0636e5bf4afcd9ca |

### MonoSAOD

AP3D (Easy): 19.11. Result ID: 69cf72cd47f34ce924b91bf1.

[Reporting paper](<https://www.sota2.com/research/paper/69cf497c0636e5bf4afcd9ca.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69cf497c0636e5bf4afcd9ca.md>)

Recorded evaluation configuration: {"Annotation Ratio":"30%"}. This record does not assert independent reproduction.

### Calibrated Teacher

AP3D (Easy): 11.97. Result ID: 69cf72cd47f34ce924b91bef.

[Reporting paper](<https://www.sota2.com/research/paper/69cf497c0636e5bf4afcd9ca.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ecb1e209131cea42318.md>)

Recorded evaluation configuration: {"Annotation Ratio":"30%"}. This record does not assert independent reproduction.

### Co-student

AP3D (Easy): 11.57. Result ID: 69cf72cd47f34ce924b91bf0.

[Reporting paper](<https://www.sota2.com/research/paper/69cf497c0636e5bf4afcd9ca.md>)

Recorded evaluation configuration: {"Annotation Ratio":"30%"}. This record does not assert independent reproduction.

### SparseDet

AP3D (Easy): 11.4. Result ID: 69cf72cd47f34ce924b91bee.

[Reporting paper](<https://www.sota2.com/research/paper/69cf497c0636e5bf4afcd9ca.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70771e209131cea4b443.md>)

Recorded evaluation configuration: {"Annotation Ratio":"30%"}. This record does not assert independent reproduction.

### Co-mining

AP3D (Easy): 11.22. Result ID: 69cf72cd47f34ce924b91bed.

[Reporting paper](<https://www.sota2.com/research/paper/69cf497c0636e5bf4afcd9ca.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6b131e209131cea2bfb1.md>)

Recorded evaluation configuration: {"Annotation Ratio":"30%"}. This record does not assert independent reproduction.

### Baseline

AP3D (Easy): 11.1. Result ID: 69cf72cd47f34ce924b91bec.

[Reporting paper](<https://www.sota2.com/research/paper/69cf497c0636e5bf4afcd9ca.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa76f41e209131cea70369.md>)

[Implementation](<https://github.com/ZrrSkywalker/MonoDETR>)

Recorded evaluation configuration: {"Annotation Ratio":"30%"}. This record does not assert independent reproduction.

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