3D Object Detection on KITTI (test)
87.87AP_3D (Easy)Patch Refinement
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| Patch RefinementModality=LiDAR2019.10 | 87.87 | 77.16 | 68.91 | |
| MMFModality=RGB + LiDAR, custom train-val split=true2019.10 | 86.81 | 76.75 | 68.41 | |
| UberATG-MMFModality=L+I, Time (ms)=802019.11 | 86.81 | 76.75 | 68.41 | |
| MMFLiDAR=true, IMG=true, Time (ms)=802020.12 | 86.81 | 76.75 | 68.41 | |
| STDModality=L, Time (ms)=802019.11 | 86.61 | 77.63 | 76.06 | |
| PointRGCNModality=L, Time (ms)=2622019.11 | 85.97 | 75.73 | 70.6 | |
| LiDAR R-CNNTraining Data Split=train+val2021.03 | 85.97 | 74.21 | 69.18 | |
| PointRCNNModality=LiDAR2019.10 | 85.94 | 75.76 | 68.32 | |
| PointRCNNModality=L, Time (ms)=1002019.11 | 85.94 | 75.76 | 68.32 | |
| Fast Point R-CNNModality=L, Time (ms)=652019.11 | 84.28 | 75.73 | 67.39 | |
| FPointNetInput=RGB+LIDAR2019.04 | 83.76 | 70.92 | 63.65 | |
| RoarNet2018.11 | 83.71 | 73.04 | 59.16 | |
| R-GCN onlyModality=L, Time (ms)=2392019.11 | 83.42 | 75.26 | 68.73 | |
| MVX-Net (PF) (M)Modality=Multimodal, IoU threshold=0.7, Feature Fusion Technique=PointFusion2019.04 | 83.2 | 72.7 | 65.2 | |
| SECONDModality=LiDAR2019.10 | 83.13 | 73.66 | 66.2 | |
| SECONDModality=L, Time (ms)=502019.11 | 83.13 | 73.66 | 66.2 | |
| SECONDLiDAR=true, IMG=false, Time (ms)=502020.12 | 83.13 | 73.66 | 66.2 | |
| PointPillarsTraining Data Split=train+val2021.03 | 83.12 | 74.11 | 69.14 | |
| UberATG-ContFuse2018.11 | 82.54 | 66.22 | 64.04 | |
| ContFuseLiDAR=true, IMG=true, Time (ms)=602020.12 | 82.54 | 66.22 | 64.04 | |
| Cont-Fuse (M)Modality=Multimodal, IoU threshold=0.72019.04 | 82.5 | 66.2 | 64 | |
| PointPillarsTraining Data Split=train2021.03 | 82.17 | 72.81 | 67.57 | |
| VoxelNetInput=RGB+LIDAR2019.04 | 81.97 | 65.46 | 62.85 | |
| AVODarchitecture=FPN2018.11 | 81.94 | 71.88 | 66.38 | |
| AVOD-FPNClass=Car2018.12 | 81.94 | 71.88 | 66.38 | |
| AVOD-FPNModality=RGB + LiDAR, custom train-val split=true2019.10 | 81.94 | 71.88 | 66.38 | |
| AVOD-FPNModality=L+I, Time (ms)=1002019.11 | 81.94 | 71.88 | 66.38 | |
| AVOD-FPNLiDAR=true, IMG=true, Time (ms)=1002020.12 | 81.94 | 71.88 | 66.38 | |
| AVOD-FPN (M)Modality=Multimodal, IoU threshold=0.72019.04 | 81.9 | 71.9 | 66.4 | |
| F-PointNetversion=v22018.11 | 81.2 | 70.39 | 62.19 | |
| F-PointNetClass=Car2018.12 | 81.2 | 70.39 | 62.19 | |
| F-PointNet (M)Modality=Multimodal, IoU threshold=0.72019.04 | 81.2 | 70.4 | 62.2 | |
| F-PointNetModality=RGB + LiDAR, custom train-val split=true2019.10 | 81.2 | 70.39 | 62.19 | |
| F-PointNetModality=L+I, Time (ms)=1702019.11 | 81.2 | 70.39 | 62.19 | |
| F-PointNetLiDAR=true, IMG=true, Time (ms)=1702020.12 | 81.2 | 70.39 | 62.19 | |
| IPODClass=Car2018.12 | 79.75 | 72.57 | 66.33 | |
| PointPillarsModality=LiDAR, custom train-val split=true2019.10 | 79.05 | 74.99 | 68.3 | |
| PointPillarsModality=L, Time (ms)=162019.11 | 79.05 | 74.99 | 68.3 | |
| VoxelNet (S)Modality=Single, IoU threshold=0.72019.04 | 77.5 | 65.1 | 57.7 | |
| VoxelNetModality=L, Time (ms)=2202019.11 | 77.49 | 65.11 | 57.73 | |
| VoxelNetLiDAR=true, IMG=false, Time (ms)=2202020.12 | 77.49 | 65.11 | 57.73 | |
| VoxelNet2018.11 | 77.47 | 65.11 | 57.73 | |
| VoxelNetClass=Car2018.12 | 77.47 | 65.11 | 57.73 | |
| VoxelnetModality=LiDAR2019.10 | 77.47 | 65.11 | 57.73 | |
| AVOD (M)Modality=Multimodal, IoU threshold=0.72019.04 | 73.6 | 65.8 | 58.4 | |
| AVODClass=Car2018.12 | 73.59 | 65.78 | 58.38 | |
| AVODModality=L+I, Time (ms)=1002019.11 | 73.59 | 65.78 | 58.38 | |
| AVODLiDAR=true, IMG=true, Time (ms)=802020.12 | 73.59 | 65.78 | 58.38 | |
| F-PointNetClass=Cyclist2018.12 | 71.96 | 56.77 | 50.39 | |
| IPODClass=Cyclist2018.12 | 71.4 | 53.46 | 48.34 | |
| MV3D (M)Modality=Multimodal, IoU threshold=0.72019.04 | 71.1 | 62.4 | 55.1 | |
| MV3D2018.11 | 71.09 | 62.35 | 55.12 | |
| MV3DClass=Car2018.12 | 71.09 | 62.35 | 55.12 | |
| MV3DModality=RGB + LiDAR2019.10 | 71.09 | 62.35 | 55.12 | |
| MV3DLiDAR=true, IMG=true, Time (ms)=3602020.12 | 71.09 | 62.35 | 55.12 | |
| MV3D (S)Modality=Single, IoU threshold=0.72019.04 | 66.8 | 52.7 | 51.3 | |
| MV3DModality=L+I, Time (ms)=2402019.11 | 66.77 | 52.73 | 51.31 | |
| MV3DLiDAR=true, IMG=false, Time (ms)=2402020.12 | 66.77 | 52.73 | 51.31 | |
| AVOD-FPNClass=Cyclist2018.12 | 64 | 52.18 | 46.61 | |
| VoxelNetClass=Cyclist2018.12 | 61.22 | 48.36 | 44.37 | |
| AVODClass=Cyclist2018.12 | 60.11 | 44.9 | 38.8 | |
| IPODClass=Pedestrian2018.12 | 56.92 | 44.68 | 42.39 | |
| PL-AVOD2019.09 | 55.4 | 37.17 | 31.37 | |
| OC Stereo2019.09 | 55.11 | 38.8 | 31.86 | |
| F-PointNetClass=Pedestrian2018.12 | 51.21 | 44.89 | 40.23 | |
| AVOD-FPNClass=Pedestrian2018.12 | 50.8 | 42.81 | 40.88 | |
| Stereo R-CNNIoU threshold=0.72019.02 | 49.23 | 34.05 | 28.39 | |
| S-RCNN2019.09 | 49.23 | 34.05 | 28.39 | |
| PL-FP2019.09 | 39.7 | 26.7 | 22.3 | |
| VoxelNetClass=Pedestrian2018.12 | 39.48 | 33.69 | 31.51 | |
| AVODClass=Pedestrian2018.12 | 38.28 | 31.51 | 26.98 | |
| M3D-RPNtime=0.16s2020.01 | 14.76 | 9.71 | 7.42 | |
| MonoGRNetInput=RGB2019.04 | 13.88 | 10.19 | 7.62 | |
| RTM3Dbackbone=DLA-34, time=0.055s2020.01 | 13.61 | 10.09 | 8.18 | |
| MF3DInput=RGB2019.04 | 10.53 | 5.69 | 5.39 | |
| MonoGRNettime=0.06s2020.01 | 9.61 | 5.74 | 4.25 | |
| GS3D2019.03 | 7.69 | 6.29 | 6.16 | |
| GS3Dtime=2.3s2020.01 | 7.69 | 6.29 | 6.16 | |
| MF3D2019.03 | 7.08 | 5.18 | 4.68 | |
| FQNettime=3.33s2020.01 | 2.77 | 1.51 | 1.01 | |
| Mono3DInput=RGB2019.04 | 2.53 | 2.31 | 2.31 | |
| OFT-NetModality=Mono2018.11 | 2.5 | 3.28 | 2.27 | |
| 3D-SSMFCNNModality=Mono2018.11 | 2.28 | 2.39 | 1.52 |