3D Object Detection on KITTI official (test) (BEV and 3D AP)
96.11AP BEV EasyVirConv-T
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| VirConv-TModality=LiDAR+RGB, Time (ms)=92, Supervision Strategy=Fully-supervised2023.03 | 96.11 | 92.54 | 92.65 | 86.25 | 89.69 | 81.24 | |
| VirConv-SModality=LiDAR+RGB, Time (ms)=92, Supervision Strategy=Semi-supervised2023.03 | 95.99 | 92.48 | 93.52 | 87.2 | 90.38 | 82.45 | |
| Graph-PbModality=LiDAR, Time (ms)=60, Supervision Strategy=Fully-supervised2023.03 | 95.79 | 91.79 | 92.12 | 83.18 | 87.11 | 77.98 | |
| Graph-VolModality=LiDAR+RGB, Time (ms)=76, Supervision Strategy=Fully-supervised2023.03 | 95.69 | 91.89 | 90.1 | 83.27 | 86.85 | 77.78 | |
| SE-SSDModality=LiDAR, Time (ms)=30, Supervision Strategy=Fully-supervised2023.03 | 95.68 | 91.49 | 91.84 | 82.54 | 86.72 | 77.15 | |
| SFDModality=LiDAR+RGB, Time (ms)=98, Supervision Strategy=Fully-supervised2023.03 | 95.64 | 91.73 | 91.85 | 84.76 | 86.83 | 77.92 | |
| VirConv-LModality=LiDAR+RGB, Time (ms)=56, Supervision Strategy=Fully-supervised2023.03 | 95.53 | 91.41 | 91.95 | 85.05 | 87.07 | 80.22 | |
| CasAModality=LiDAR, Time (ms)=86, Supervision Strategy=Fully-supervised2023.03 | 95.19 | 91.58 | 91.54 | 83.06 | 86.82 | 80.08 | |
| PV-RCNNModality=LiDAR, Time (ms)=80*, Supervision Strategy=Fully-supervised2023.03 | 94.98 | 90.25 | 90.65 | 81.43 | 86.14 | 76.82 | |
| Voxel-RCNNModality=LiDAR, Time (ms)=40, Supervision Strategy=Fully-supervised2023.03 | 94.85 | 90.9 | 88.83 | 81.62 | 86.13 | 77.06 | |
| VPFNetModality=LiDAR+RGB, Time (ms)=62, Supervision Strategy=Fully-supervised2023.03 | 93.94 | 91.02 | 90.52 | 83.21 | 86.25 | 78.2 | |
| UberATG-MMFModality=LiDAR+RGB, Time (ms)=80, Supervision Strategy=Fully-supervised2023.03 | 93.67 | 88.4 | 88.21 | 77.43 | 81.99 | 70.22 | |
| 3D-CVFModality=LiDAR+RGB, Time (ms)=75, Supervision Strategy=Fully-supervised2023.03 | 93.52 | 89.2 | 89.56 | 80.05 | 82.45 | 73.11 | |
| BtcDetModality=LiDAR, Time (ms)=90, Supervision Strategy=Fully-supervised2023.03 | 92.81 | 90.64 | 89.34 | 82.86 | 84.55 | 78.09 | |
| Focals ConvModality=LiDAR+RGB, Time (ms)=100*, Supervision Strategy=Fully-supervised2023.03 | 92.67 | 90.55 | 89 | 82.28 | 86.33 | 77.59 | |
| CT3DModality=LiDAR, Time (ms)=70*, Supervision Strategy=Fully-supervised2023.03 | 92.36 | 87.83 | 88.83 | 81.77 | 84.07 | 77.16 | |
| F-PointNetModality=LiDAR+RGB, Time (ms)=170*, Supervision Strategy=Fully-supervised2023.03 | 91.17 | 82.19 | 84.67 | 69.79 | 74.77 | 60.59 | |
| 64-beam LiDARInput signal=64-beam LiDAR, Detector=P-RCNN, IoU threshold=0.72019.06 | 89.5 | 85.9 | 85.7 | 75.8 | 79.1 | 68.3 | |
| Pseudo-LiDAR++ (SDN + GDC)Input signal=SDN + GDC, Detector=P-RCNN, IoU threshold=0.72019.06 | 83.8 | 68.5 | 73.5 | 54.7 | 66.5 | 51.2 | |
| Pseudo-LiDAR++ (SDN)Input signal=SDN, Detector=P-RCNN, IoU threshold=0.72019.06 | 75.5 | 60.4 | 57.2 | 44.6 | 53.4 | 38.5 |