3D Object Detection on KITTI (test) (All Classes AP_3D)
90.25AP_3D Car (Easy)PV-RCNN
Evaluation results
| Method | Links | |||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| PV-RCNNModality=L2020.06 | 90.25 | — | 81.43 | 76.82 | — | — | — | 78.6 | 63.71 | 57.65 | — | — | — | |
| PVRCNN2022.03 | 90.25 | — | 81.43 | 76.82 | 52.17 | 43.29 | 40.29 | 78.6 | 63.71 | 57.65 | — | — | — | |
| EQ-PVRCNNquery positions=keypoints2022.03 | 90.13 | — | 82.01 | 77.53 | 55.84 | 47.02 | 42.94 | 85.41 | 69.1 | 62.3 | — | — | — | |
| SA-SSDModality=L2020.06 | 88.75 | — | 79.79 | 74.16 | — | — | — | — | — | — | — | — | — | |
| MMFInput=I+L, Stage=Two, FPS=132019.12 | 88.4 | — | 77.43 | 70.22 | — | — | — | — | — | — | — | — | — | |
| 3DSSDModality=L2020.06 | 88.36 | — | 79.57 | 74.55 | — | — | — | — | — | — | — | — | — | |
| Point-GNNModality=L2020.06 | 88.33 | — | 79.47 | 72.29 | 51.92 | 43.77 | 40.14 | 78.6 | 63.48 | 57.08 | — | — | — | |
| STDInput=L, Stage=Two, FPS=132019.12 | 87.95 | — | 79.71 | 75.09 | 53.29 | 42.47 | 38.35 | 78.69 | 61.59 | 55.3 | — | — | — | |
| HotSpotNetInput=L, Stage=One, FPS=252019.12 | 87.6 | — | 78.31 | 73.34 | 53.1 | 45.37 | 41.47 | 82.59 | 65.95 | 59 | — | — | — | |
| F-ConvNetInput=I+L, Stage=Two, FPS=22019.12 | 87.36 | — | 76.39 | 66.69 | 52.16 | 43.38 | 38.8 | 81.89 | 65.07 | 56.64 | — | — | — | |
| SVGA-NetModality=L2020.06 | 87.33 | — | 80.47 | 75.91 | 48.48 | 40.39 | 37.92 | 78.58 | 62.28 | 54.88 | — | — | — | |
| PointRCNNInput=L, Stage=Two, FPS=102019.12 | 86.96 | — | 75.64 | 70.7 | 47.98 | 39.37 | 36.01 | 74.96 | 58.82 | 52.53 | — | — | — | |
| MMFModality=R+L2020.06 | 86.81 | — | 76.75 | 68.41 | — | — | — | — | — | — | — | — | — | |
| STDModality=L2020.06 | 86.61 | — | 77.63 | 76.06 | 53.08 | 44.24 | 41.97 | 78.89 | 62.53 | 55.77 | — | — | — | |
| 3D IoU LossInput=L, Stage=One, FPS=132019.12 | 86.16 | — | 76.5 | 71.39 | — | — | — | — | — | — | — | — | — | |
| PointRCNNModality=L2020.06 | 85.94 | — | 75.76 | 68.32 | 49.43 | 41.78 | 38.63 | 73.93 | 59.6 | 53.59 | — | — | — | |
| F-ConvNetModality=R+L2020.06 | 85.88 | — | 76.51 | 68.08 | 52.37 | 45.61 | 41.49 | 79.58 | 64.68 | 57.03 | — | — | — | |
| HRI-VoxelFPNInput=L, Stage=One, FPS=502019.12 | 85.64 | — | 76.7 | 69.44 | — | — | — | — | — | — | — | — | — | |
| FastPointRCNNInput=L, Stage=Two, FPS=172019.12 | 85.29 | — | 77.4 | 70.24 | — | — | — | — | — | — | — | — | — | |
| HR-SECONDInput=L, Stage=One, FPS=252019.12 | 84.78 | — | 75.32 | 68.7 | 45.31 | 35.52 | 33.14 | 75.83 | 60.82 | 53.67 | — | — | — | |
| SECOND-V1.5Input=L, Stage=One, FPS=332019.12 | 84.65 | — | 75.96 | 68.71 | — | — | — | — | — | — | — | — | — | |
| RoarnetModality=Lidar & Img., Speed (Hz)=102018.12 | 83.71 | — | 73.04 | 59.16 | — | — | — | — | — | — | — | — | — | |
| ContFuseInput=I+L, Stage=One, FPS=172019.12 | 83.68 | — | 68.78 | 61.67 | — | — | — | — | — | — | — | — | — | |
| SECONDModality=Lidar, Speed (Hz)=202018.12 | 83.13 | 56.69 | 73.66 | 66.2 | 51.07 | 42.56 | 37.29 | 70.51 | 53.85 | 46.9 | — | — | — | |
| SECONDModality=L2020.06 | 83.13 | — | 73.66 | 66.2 | 51.07 | 42.56 | 37.29 | 70.51 | 53.85 | 46.9 | — | — | — | |
| AVOD-FPNInput=I+L, Stage=Two, FPS=102019.12 | 83.07 | — | 71.76 | 65.73 | 50.46 | 42.27 | 39.04 | 63.76 | 50.55 | 44.93 | — | — | — | |
| PointPillarsInput=L, Stage=One, FPS=622019.12 | 82.58 | — | 74.31 | 68.99 | 51.45 | 41.92 | 38.89 | 77.1 | 58.65 | 51.92 | — | — | — | |
| Cont-FuseModality=Lidar & Img., Speed (Hz)=16.72018.12 | 82.54 | — | 66.22 | 64.04 | — | — | — | — | — | — | — | — | — | |
| F-PointNetInput=I+L, Stage=Two, FPS=62019.12 | 82.19 | — | 69.79 | 60.59 | 50.53 | 42.15 | 38.08 | 72.27 | 56.12 | 49.01 | — | — | — | |
| AVOD-FPNModality=Lidar & Img., Speed (Hz)=102018.12 | 81.94 | 55.62 | 71.88 | 66.38 | 50.8 | 42.81 | 40.88 | 64 | 52.18 | 46.61 | — | — | — | |
| AVOD-FPNModality=R+L2020.06 | 81.94 | — | 71.88 | 66.38 | 50.8 | 42.81 | 40.88 | 64 | 52.18 | 46.61 | — | — | — | |
| F-PointNetModality=Lidar & Img., Speed (Hz)=5.92018.12 | 81.2 | 57.35 | 70.39 | 62.19 | 51.21 | 44.89 | 40.23 | 71.96 | 56.77 | 50.39 | — | — | — | |
| F-PointnetModality=R+L2020.06 | 81.2 | — | 70.39 | 62.19 | 51.21 | 44.89 | 40.23 | 71.96 | 56.77 | 50.39 | — | — | — | |
| PointPillarsModality=Lidar, Speed (Hz)=622018.12 | 79.05 | 59.2 | 74.99 | 68.3 | 52.08 | 43.53 | 41.49 | 75.78 | 59.07 | 52.92 | — | — | — | |
| PointPillarsModality=L2020.06 | 79.05 | — | 74.99 | 68.3 | 52.08 | 43.43 | 41.49 | 75.78 | 59.07 | 52.92 | — | — | — | |
| VoxelNetModality=Lidar, Speed (Hz)=4.42018.12 | 77.47 | 49.05 | 65.11 | 57.73 | 39.48 | 33.69 | 31.5 | 61.22 | 48.36 | 44.37 | — | — | — | |
| VoxelNetInput=L, Stage=One, FPS=42019.12 | 77.47 | — | 65.11 | 57.73 | 33.69 | 39.48 | 31.51 | 61.22 | 48.36 | 44.37 | — | — | — | |
| VoxelnetModality=L2020.06 | 77.47 | — | 65.11 | 57.73 | 39.48 | 33.69 | 31.51 | 61.22 | 48.36 | 44.37 | — | — | — | |
| MV3DInput=I+L, Stage=Two, FPS=32019.12 | 74.97 | — | 63.63 | 54 | — | — | — | — | — | — | — | — | — | |
| MV3DModality=Lidar & Img., Speed (Hz)=2.82018.12 | 71.09 | — | 62.35 | 55.12 | — | — | — | — | — | — | — | — | — | |
| MV3DModality=R+L2020.06 | 71.09 | — | 62.35 | 55.12 | — | — | — | — | — | — | — | — | — | |
| ComplexYOLOInput=L, Stage=One, FPS=172019.12 | 55.93 | — | 47.34 | 42.6 | 17.6 | 13.96 | 12.7 | 24.27 | 18.53 | 17.31 | — | — | — | |
| GUP NetExtra data=None2021.07 | 20.11 | — | 14.2 | 11.77 | 14.72 | 9.53 | 7.87 | 4.18 | 2.65 | 2.09 | — | — | — | |
| CaDNNExtra data=LiDAR2021.07 | 19.17 | — | 13.41 | 11.46 | 12.87 | 8.14 | 6.76 | 7 | 3.41 | 3.3 | — | — | — | |
| KinematicExtra data=Temporal2021.07 | 19.07 | — | 12.72 | 9.17 | — | — | — | — | — | — | — | — | — | |
| DA-3DdetExtra data=Depth2021.07 | 16.77 | — | 11.5 | 8.93 | — | — | — | — | — | — | — | — | — | |
| D4LCNExtra data=Depth2021.07 | 16.65 | — | 11.72 | 9.51 | 4.55 | 3.42 | 2.83 | 2.45 | 1.67 | 1.36 | — | — | — | |
| AM3DExtra data=Depth2021.07 | 16.5 | — | 10.74 | 9.52 | — | — | — | — | — | — | — | — | — | |
| RAR-NetExtra data=None2021.07 | 16.37 | — | 11.01 | 9.52 | — | — | — | — | — | — | — | — | — | |
| PatchNetExtra data=Depth2021.07 | 15.68 | — | 11.12 | 10.17 | — | — | — | — | — | — | — | — | — | |
| UR3DExtra data=None2021.07 | 15.58 | — | 8.61 | 6 | — | — | — | — | — | — | — | — | — | |
| MoVi-3DExtra data=None2021.07 | 15.19 | — | 10.9 | 9.26 | 8.99 | 5.44 | 4.57 | 1.08 | 0.63 | 0.7 | — | — | — | |
| M3D-RPNExtra data=None2021.07 | 14.76 | — | 9.71 | 7.42 | 4.92 | 3.48 | 2.94 | 0.94 | 0.65 | 0.47 | — | — | — | |
| RTM3DExtra data=None2021.07 | 14.41 | — | 10.34 | 8.77 | — | — | — | — | — | — | — | — | — | |
| SMOKEExtra data=None2021.07 | 14.03 | — | 9.76 | 7.84 | — | — | — | — | — | — | — | — | — | |
| MonoPairExtra data=None2021.07 | 13.04 | — | 9.99 | 8.65 | 10.02 | 6.68 | 5.53 | 3.79 | 2.12 | 1.83 | — | — | — | |
| Decoupled-3DExtra data=Depth2021.07 | 11.08 | — | 7.02 | 5.63 | — | — | — | — | — | — | — | — | — | |
| Mono-PLIDARExtra data=Depth2021.07 | 10.76 | — | 7.5 | 6.1 | — | — | — | — | — | — | — | — | — | |
| MonoPSRExtra data=LiDAR2021.07 | 10.76 | — | 7.25 | 5.85 | 6.12 | 4 | 3.3 | 8.7 | 4.74 | 3.68 | — | — | — | |
| MonoDISExtra data=None2021.07 | 10.37 | — | 7.94 | 6.4 | — | — | — | — | — | — | — | — | — | |
| AM3DTraining with depth modality=true2021.06 | — | — | — | — | — | — | — | — | — | — | 16.5 | 10.74 | 9.52 | |
| AM3D2022.07 | — | — | — | — | — | — | — | — | — | — | 21.48 | 16.08 | 15.26 | |
| CaDDN2022.07 | — | — | — | — | — | — | — | — | — | — | 19.17 | 13.41 | 11.46 | |
| D4LCNTraining with depth modality=true2021.06 | — | — | — | — | — | — | — | — | — | — | 16.65 | 11.72 | 9.51 | |
| DD3D2022.07 | — | — | — | — | — | — | — | — | — | — | 23.19 | 16.87 | 14.36 | |
| GCDR+DDA2022.07 | — | — | — | — | — | — | — | — | — | — | 25.21 | 17.25 | 13.53 | |
| GS3DTraining with depth modality=false2021.06 | — | — | — | — | — | — | — | — | — | — | 4.47 | 2.9 | 2.47 | |
| ImVoxelNetTraining with depth modality=false2021.06 | — | — | — | — | — | — | — | — | — | — | 17.15 | 10.97 | 9.15 | |
| Local Ray Attention2022.07 | — | — | — | — | — | — | — | — | — | — | 31.55 | 20.95 | 17.83 | |
| Local Ray AttentionWith DM3D=true2022.07 | — | — | — | — | — | — | — | — | — | — | 35.96 | 25.02 | 21.47 | |
| LPCGWith DM3D=true2022.07 | — | — | — | — | — | — | — | — | — | — | 29.15 | 21.24 | 19.18 | |
| LPCG-Monoflex2022.07 | — | — | — | — | — | — | — | — | — | — | 25.56 | 17.8 | 15.38 | |
| M3D-RPNType=Mono2019.07 | — | — | — | — | — | — | — | — | — | — | 20.65 | 15.7 | 13.32 | |
| M3D-RPNTraining with depth modality=false2021.06 | — | — | — | — | — | — | — | — | — | — | 14.76 | 9.71 | 7.42 | |
| MonoCon2022.07 | — | — | — | — | — | — | — | — | — | — | 22.5 | 16.46 | 13.95 | |
| MonoDDE2022.07 | — | — | — | — | — | — | — | — | — | — | 24.93 | 17.14 | 15.1 | |
| MonoDETR2022.07 | — | — | — | — | — | — | — | — | — | — | 24.52 | 16.26 | 13.93 | |
| MonoDISTraining with depth modality=false2021.06 | — | — | — | — | — | — | — | — | — | — | 10.37 | 7.94 | 6.4 | |
| MonoDTR2022.07 | — | — | — | — | — | — | — | — | — | — | 21.99 | 15.39 | 12.73 | |
| MonoFENetTraining with depth modality=true2021.06 | — | — | — | — | — | — | — | — | — | — | 8.34 | 5.14 | 4.1 | |
| MonoGRNetTraining with depth modality=false2021.06 | — | — | — | — | — | — | — | — | — | — | 9.61 | 5.74 | 4.25 | |
| MonoInsight2022.07 | — | — | — | — | — | — | — | — | — | — | 27.71 | 19.04 | 16.03 | |
| Multi-FusionType=Mono2019.07 | — | — | — | — | — | — | — | — | — | — | 7.08 | 5.18 | 4.68 | |
| OFT-Net2022.07 | — | — | — | — | — | — | — | — | — | — | 2.5 | 3.28 | 2.27 | |
| OFTNetTraining with depth modality=false2021.06 | — | — | — | — | — | — | — | — | — | — | 1.32 | 1.61 | 1 | |
| PS-fld2022.07 | — | — | — | — | — | — | — | — | — | — | 23.74 | 17.74 | 15.14 | |
| RTM3DTraining with depth modality=false2021.06 | — | — | — | — | — | — | — | — | — | — | 14.41 | 10.34 | 8.77 | |
| SMOKETraining with depth modality=false2021.06 | — | — | — | — | — | — | — | — | — | — | 14.03 | 9.76 | 7.84 |