3D Object Detection on KITTI (test) (3D AP)
91.053D AP EasySA-SSD+EBM
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| SA-SSD+EBM2020.12 | 91.05 | 80.12 | 72.78 | |
| 3D Dual-FusionInput Modality=LiDAR-Camera based2022.11 | 91.01 | 82.4 | 79.39 | |
| Voxel R-CNNModality=LiDAR-based2022.05 | 90.9 | 81.62 | 77.06 | |
| Voxel R-CNNInput Modality=LiDAR based2022.11 | 90.9 | 81.62 | 77.06 | |
| Focals ConvInput Modality=LiDAR-Camera based2022.11 | 90.55 | 82.28 | 77.59 | |
| PDVInput Modality=LiDAR based2022.11 | 90.43 | 81.86 | 77.36 | |
| PV-RCNNModality=LiDAR-based2022.05 | 90.25 | 81.43 | 76.82 | |
| PV-RCNNInput Modality=LiDAR based2022.11 | 90.25 | 81.43 | 76.82 | |
| PV-RCNN2020.12 | 90.25 | 81.43 | 76.82 | |
| VoTr-TSDInput Modality=LiDAR based2022.11 | 89.9 | 82.09 | 79.14 | |
| EPNetModality=LiDAR+RGB2022.05 | 89.81 | 79.28 | 74.59 | |
| EPNetInput Modality=LiDAR-Camera based2022.11 | 89.81 | 79.28 | 74.59 | |
| EPNet2020.12 | 89.81 | 79.28 | 74.59 | |
| VFF + PV-RCNNModality=LiDAR+RGB, Backbone=PV-RCNN2022.05 | 89.58 | 81.97 | 79.17 | |
| VFF + Voxel R-CNNModality=LiDAR+RGB, Backbone=Voxel R-CNN2022.05 | 89.5 | 82.09 | 79.29 | |
| VFFInput Modality=LiDAR-Camera based2022.11 | 89.5 | 82.09 | 79.29 | |
| 3D-CVFModality=LiDAR+RGB2022.05 | 89.2 | 80.05 | 73.11 | |
| 3D-CVFInput Modality=LiDAR-Camera based2022.11 | 89.2 | 80.05 | 73.11 | |
| 3D-CVF2020.12 | 89.2 | 80.05 | 73.11 | |
| CLOCSInput Modality=LiDAR-Camera based2022.11 | 88.94 | 80.67 | 77.15 | |
| CLOCs-PVCas2020.12 | 88.94 | 80.67 | 77.15 | |
| HMFIInput Modality=LiDAR-Camera based2022.11 | 88.9 | 81.93 | 77.3 | |
| IA-SSDInput Modality=LiDAR based2022.11 | 88.87 | 80.32 | 75.1 | |
| SA-SSDsource=reproduced baseline2020.12 | 88.8 | 79.52 | 72.3 | |
| SA-SSDModality=LiDAR-based2022.05 | 88.75 | 79.79 | 74.16 | |
| SA-SSDsource=reported in [23]2020.12 | 88.75 | 79.79 | 74.16 | |
| UberATG-MMFModality=LiDAR+RGB2022.05 | 88.4 | 77.43 | 70.22 | |
| Pyramid-PVInput Modality=LiDAR based2022.11 | 88.39 | 82.08 | 77.49 | |
| 3DSSD2020.12 | 88.36 | 79.57 | 74.55 | |
| IA-SSDBackbone=PointNet++2022.12 | 88.34 | 80.13 | 75.04 | |
| Point-GNN2020.12 | 88.33 | 79.47 | 72.29 | |
| GD-MAEBackbone=Transformer2022.12 | 88.14 | 79.03 | 73.55 | |
| STDModality=LiDAR-based2022.05 | 87.95 | 79.71 | 75.09 | |
| STD2020.12 | 87.95 | 79.71 | 75.09 | |
| Part-A2Modality=LiDAR-based2022.05 | 87.81 | 78.49 | 73.51 | |
| Part-A22020.12 | 87.81 | 78.49 | 73.51 | |
| SERCNN2020.12 | 87.74 | 78.96 | 74.3 | |
| PointRCNNModality=LiDAR-based2022.05 | 86.96 | 75.64 | 70.7 | |
| MMFInput Modality=LiDAR-Camera based2022.11 | 86.81 | 76.75 | 68.41 | |
| VoTr-SSDBackbone=Transformer2022.12 | 86.73 | 78.25 | 72.99 | |
| SECONDBackbone=SpCNN2022.12 | 84.65 | 75.96 | 68.71 | |
| AVODModality=LiDAR+RGB2022.05 | 83.07 | 71.76 | 65.73 | |
| PointPillarsModality=LiDAR-based2022.05 | 82.58 | 74.31 | 68.99 | |
| PointPillarsBackbone=CNN2022.12 | 82.58 | 74.31 | 68.99 | |
| F-PointNetModality=LiDAR+RGB2022.05 | 82.19 | 69.79 | 60.59 | |
| MV3DModality=LiDAR+RGB2022.05 | 74.97 | 63.63 | 54 | |
| CenterNetAnchor Type=Anchor-free, Augmentation=geo aug, Running time (ms)=302021.04 | 23.41 | 15.26 | 12.8 | |
| AutoShapeAnchor Type=Anchor-free, Running time (ms)=502021.04 | 22.47 | 14.17 | 11.36 | |
| MonoEFAnchor Type=Anchor-free, Running time (ms)=302021.04 | 21.29 | 13.87 | 11.71 | |
| M3D-RPNAnchor Type=Anchor-based, Augmentation=geo aug, Running time (ms)=402021.04 | 20.34 | 14.27 | 12.02 | |
| MonoFlexAnchor Type=Anchor-free, Running time (ms)=302021.04 | 19.94 | 13.89 | 12.07 | |
| DDMP-3DAnchor Type=Anchor-based, Running time (ms)=null2021.04 | 19.71 | 12.78 | 9.8 | |
| MonoRunAnchor Type=Anchor-based, Running time (ms)=702021.04 | 19.65 | 12.3 | 10.58 | |
| CenterNetAnchor Type=Anchor-free, Augmentation=vanilla aug, Running time (ms)=302021.04 | 19.41 | 13.21 | 11.04 | |
| CaDDNAnchor Type=Anchor-based, Running time (ms)=6302021.04 | 19.17 | 13.41 | 11.46 | |
| KinemanticAnchor Type=Anchor-based, Running time (ms)=null2021.04 | 19.07 | 12.72 | 9.17 | |
| Mono R-CNNAnchor Type=Anchor-based, Running time (ms)=702021.04 | 18.36 | 12.65 | 10.03 | |
| GrooMed-NMSAnchor Type=Anchor-based, Running time (ms)=null2021.04 | 18.1 | 12.32 | 9.65 | |
| M3DSSDAnchor Type=Anchor-based, Running time (ms)=null2021.04 | 17.51 | 11.46 | 8.98 | |
| MonodleAnchor Type=Anchor-free, Running time (ms)=402021.04 | 17.23 | 12.26 | 10.29 | |
| M3D-RPNAnchor Type=Anchor-based, Augmentation=vanilla aug, Running time (ms)=402021.04 | 16.45 | 11.24 | 10.02 |