# 3D Object Detection on KITTI (test) (AP40 Metrics)

Source: [3D Object Detection on KITTI (test) (AP40 Metrics)](<https://www.sota2.com/research/sota/3d-object-detection-on-kitti-test-ap40-metrics>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-02-27T06:43:04.100Z

Evaluation of 3D Object Detection performance on the KITTI test set, reporting Average Precision calculated using the AP40 metric across Easy, Moderate, and Hard difficulty levels.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | 3D Object Detection |
| Dataset (including any stated split) | KITTI (test) |
| Metric | AP40 (Easy) |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 6 of 6 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [AP40 (Easy)](<https://www.sota2.com/research/sota/3d-object-detection-on-kitti-test-ap40-metrics.md?metric=AP40%20(Easy)>): Higher is better; unit: PERCENT.

- [AP40 (Moderate)](<https://www.sota2.com/research/sota/3d-object-detection-on-kitti-test-ap40-metrics.md?metric=AP40%20(Moderate)>): Higher is better; unit: PERCENT.

- [AP40 (Hard)](<https://www.sota2.com/research/sota/3d-object-detection-on-kitti-test-ap40-metrics.md?metric=AP40%20(Hard)>): Higher is better; unit: PERCENT.

## Recorded results

| Method | AP40 (Easy) | Result date | Report paper |
| --- | --- | --- | --- |
| MonoPair | 1002 | Not recorded | 68fa699a1e209131cea22fc4 |
| MonoDLE | 964 | Not recorded | 68fa699a1e209131cea22fc4 |
| M3D-RPN | 492 | Not recorded | 68fa699a1e209131cea22fc4 |
| MonoDLE | 459 | Not recorded | 68fa699a1e209131cea22fc4 |
| MonoPair | 379 | Not recorded | 68fa699a1e209131cea22fc4 |
| M3D-RPN | 94 | Not recorded | 68fa699a1e209131cea22fc4 |

### MonoPair

AP40 (Easy): 1002. Result ID: 69a13cdc35dfcabb00e5b3db.

[Reporting paper](<https://www.sota2.com/research/paper/68fa699a1e209131cea22fc4.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa67221e209131cea14918.md>)

Recorded evaluation configuration: {"Cat.":"Ped.","IoU threshold":"0.5"}. This record does not assert independent reproduction.

### MonoDLE

AP40 (Easy): 964. Result ID: 69a13cdc35dfcabb00e5b3dc.

[Reporting paper](<https://www.sota2.com/research/paper/68fa699a1e209131cea22fc4.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa699a1e209131cea22fc4.md>)

[Implementation](<https://github.com/xinzhuma/monodle>)

Recorded evaluation configuration: {"Cat.":"Ped.","IoU threshold":"0.5"}. This record does not assert independent reproduction.

### M3D-RPN

AP40 (Easy): 492. Result ID: 69a13cdc35dfcabb00e5b3da.

[Reporting paper](<https://www.sota2.com/research/paper/68fa699a1e209131cea22fc4.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa663a1e209131cea0ef88.md>)

[Implementation](<http://cvlab.cse.msu.edu/project-m3d-rpn.html>)

Recorded evaluation configuration: {"Cat.":"Ped.","IoU threshold":"0.5"}. This record does not assert independent reproduction.

### MonoDLE

AP40 (Easy): 459. Result ID: 69a13cdc35dfcabb00e5b3df.

[Reporting paper](<https://www.sota2.com/research/paper/68fa699a1e209131cea22fc4.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa699a1e209131cea22fc4.md>)

[Implementation](<https://github.com/xinzhuma/monodle>)

Recorded evaluation configuration: {"Cat.":"Cyc.","IoU threshold":"0.5"}. This record does not assert independent reproduction.

### MonoPair

AP40 (Easy): 379. Result ID: 69a13cdc35dfcabb00e5b3de.

[Reporting paper](<https://www.sota2.com/research/paper/68fa699a1e209131cea22fc4.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa67221e209131cea14918.md>)

Recorded evaluation configuration: {"Cat.":"Cyc.","IoU threshold":"0.5"}. This record does not assert independent reproduction.

### M3D-RPN

AP40 (Easy): 94. Result ID: 69a13cdc35dfcabb00e5b3dd.

[Reporting paper](<https://www.sota2.com/research/paper/68fa699a1e209131cea22fc4.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa663a1e209131cea0ef88.md>)

[Implementation](<http://cvlab.cse.msu.edu/project-m3d-rpn.html>)

Recorded evaluation configuration: {"Cat.":"Cyc.","IoU threshold":"0.5"}. This record does not assert independent reproduction.

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