3D Object Detection on KITTI (test) (3D AP & BEV AP)
90.93D AP (Easy)Voxel R-CNN
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| Voxel R-CNNModality=L2021.09 | 90.9 | 81.62 | 77.06 | — | — | — | — | — | |
| PV-RCNNModality=L2021.09 | 90.25 | 81.43 | 76.82 | — | — | — | — | — | |
| VoTr-TSDModality=L2021.09 | 89.9 | 82.09 | 79.14 | — | — | — | — | — | |
| 3D-CVFModality=R+L2021.09 | 89.2 | 80.05 | 73.11 | — | — | — | — | — | |
| CLOCSModality=R+L2021.09 | 88.94 | 80.67 | 77.15 | — | — | — | — | — | |
| SA-SSDModality=L2021.09 | 88.75 | 79.79 | 74.16 | — | — | — | — | — | |
| PatchesModality=L2021.09 | 88.67 | 77.2 | 71.82 | — | — | — | — | — | |
| MMFModality=R+L2021.09 | 88.4 | 77.43 | 70.22 | — | — | — | — | — | |
| 3DSSDModality=L2021.09 | 88.36 | 79.57 | 74.55 | — | — | — | — | — | |
| PointGNNModality=L2021.09 | 88.33 | 79.47 | 72.29 | — | — | — | — | — | |
| STDModality=L2021.09 | 87.95 | 79.71 | 75.09 | — | — | — | — | — | |
| Part-A2 NetModality=L2021.09 | 87.81 | 78.49 | 73.51 | — | — | — | — | — | |
| HVNetModality=L2021.09 | 87.21 | 77.58 | 71.79 | — | — | — | — | — | |
| PointRCNNModality=L2021.09 | 86.96 | 75.64 | 70.7 | — | — | — | — | — | |
| VoTr-SSDModality=L2021.09 | 86.73 | 78.25 | 72.99 | — | — | — | — | — | |
| TANetModality=L2021.09 | 85.94 | 75.76 | 68.32 | — | — | — | — | — | |
| SECONDModality=L2021.09 | 84.65 | 75.96 | 68.71 | — | — | — | — | — | |
| ContFuseModality=R+L2021.09 | 83.68 | 68.78 | 61.67 | — | — | — | — | — | |
| AVOD-FPNModality=R+L2021.09 | 83.07 | 71.76 | 65.73 | — | — | — | — | — | |
| PointPillarsModality=L2021.09 | 82.58 | 74.31 | 68.99 | — | — | — | — | — | |
| F-PointNetModality=R+L2021.09 | 82.19 | 69.79 | 60.59 | — | — | — | — | — | |
| VoxelNetModality=L2021.09 | 77.47 | 65.11 | 57.73 | — | — | — | — | — | |
| MV3DModality=R+L2021.09 | 74.97 | 63.63 | 54 | — | — | — | — | — | |
| MonoCDExtra data=None, Time (ms)=362024.04 | 25.53 | 16.59 | 14.53 | — | 33.41 | 22.81 | 19.57 | — | |
| MonoDETRExtra data=None, Time (ms)=432024.04 | 25 | 16.47 | 13.58 | — | 33.6 | 22.11 | 18.6 | — | |
| MonoJSGExtra data=None, Time (ms)=422024.04 | 24.69 | 16.14 | 13.64 | — | 32.59 | 21.26 | 18.18 | — | |
| DCDExtra data=CAD2024.04 | 23.81 | 15.9 | 13.21 | — | 32.55 | 21.5 | 18.25 | — | |
| MonoConExtra data=None, Time (ms)=25.82024.04 | 22.5 | 16.46 | 13.95 | — | 31.12 | 22.1 | 19 | — | |
| AutoShapeExtra data=CAD, Time (ms)=502024.04 | 22.47 | 14.17 | 11.36 | — | 30.66 | 20.08 | 15.59 | — | |
| GPENetExtra data=None2024.04 | 22.41 | 15.44 | 12.84 | — | 30.31 | 20.79 | 18.21 | — | |
| MonoDTRExtra data=LiDAR, Time (ms)=372024.04 | 21.99 | 15.39 | 12.73 | — | 28.59 | 20.38 | 17.14 | — | |
| MonoGroundExtra data=None, Time (ms)=302024.04 | 21.37 | 14.36 | 12.62 | — | 30.07 | 20.47 | 17.74 | — | |
| MonoFlexExtra data=None, Time (ms)=352024.04 | 19.94 | 13.89 | 12.07 | — | 28.23 | 19.75 | 16.89 | — | |
| DDMP-3DExtra data=Depth, Time (ms)=1802024.04 | 19.71 | 12.78 | 9.8 | — | 28.08 | 17.89 | 13.44 | — | |
| MonoRUnExtra data=LiDAR, Time (ms)=702024.04 | 19.65 | 12.3 | 10.58 | — | 27.94 | 17.34 | 15.24 | — | |
| CaDDNExtra data=LiDAR, Time (ms)=6302024.04 | 19.17 | 13.41 | 11.46 | — | 27.94 | 18.91 | 17.19 | — | |
| Kinematic3DExtra data=Video, Time (ms)=1202024.04 | 19.07 | 12.72 | 9.17 | — | 26.69 | 17.52 | 13.1 | — | |
| MonoRCNNExtra data=None, Time (ms)=702024.04 | 18.36 | 12.65 | 10.03 | — | 25.48 | 18.11 | 14.1 | — | |
| MonoDLEExtra data=None, Time (ms)=402024.04 | 17.23 | 12.26 | 10.29 | — | 24.79 | 18.89 | 16 | — | |
| SMOKEExtra data=None, Time (ms)=302024.04 | 14.03 | 9.76 | 7.84 | — | 20.83 | 14.49 | 12.75 | — | |
| SKD-WM3DBackbone=DLA-34, Supervision=Weak2024.02 | 8.95 | 5.54 | 4.53 | — | 15.71 | 10.15 | 8.08 | — | |
| WeakMono3DBackbone=DLA-34, Supervision=Weak2024.02 | 6.98 | 4.85 | 4.45 | — | 12.31 | 8.8 | 7.81 | — | |
| WeakM3DBackbone=ResNet-50, Supervision=Weak2024.02 | 5.03 | 2.26 | 1.63 | — | 11.82 | 5.66 | 4.08 | — | |
| DDStereoTime=23.5 ms, GFLOPs=62.65, Parameter=19.6 M2026.06 | — | — | — | 43.97 | — | — | — | 53.6 | |
| MonoDETRTime=20 ms, GFLOPs=62.96, Parameter=37.7 M2026.06 | — | — | — | 16.47 | — | — | — | 22.11 | |
| MonoDGPTime=22 ms, GFLOPs=71.79, Parameter=42.2 M2026.06 | — | — | — | 18.72 | — | — | — | 25.23 | |
| YOLOStereo3DTime=80 ms, GFLOPs=177.82, Parameter=107.6 M2026.06 | — | — | — | 41.25 | — | — | — | 50.28 |