# 3D Object Detection on KITTI (test) (Difficulty Aggregated AP)

Source: [3D Object Detection on KITTI (test) (Difficulty Aggregated AP)](<https://www.sota2.com/research/sota/3d-object-detection-on-kitti-test-difficulty-aggregated-ap>)

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

Data updated: 2026-02-26T05:23:13.336Z

Evaluation of 3D Object Detection performance on the KITTI test set, reporting aggregated Average Precision (AP) metrics summarized by difficulty level (Easy, Moderate, Hard).

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 | AP Easy |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 7 of 7 |
| 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

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

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

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

- [AP Average](<https://www.sota2.com/research/sota/3d-object-detection-on-kitti-test-difficulty-aggregated-ap.md?metric=AP%20Average>): Higher is better; unit: PERCENT.

## Recorded results

| Method | AP Easy | Result date | Report paper |
| --- | --- | --- | --- |
| Voxel R-CNN | 90.9 | Not recorded | 68fa6a8b1e209131cea28a9a |
| SPG + PV-RCNN | 90.5 | Not recorded | 68fa6a8b1e209131cea28a9a |
| PV-RCNN | 90.25 | Not recorded | 68fa6a8b1e209131cea28a9a |
| CIA-SSD | 89.59 | Not recorded | 68fa6a8b1e209131cea28a9a |
| 3D-CVF | 89.2 | Not recorded | 68fa6a8b1e209131cea28a9a |
| SA-SSD | 88.75 | Not recorded | 68fa6a8b1e209131cea28a9a |
| Asso-3Ddet | 85.99 | Not recorded | 68fa6a8b1e209131cea28a9a |

### Voxel R-CNN

AP Easy: 90.9. Result ID: 699ab63a5698665ec4440e9f.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6a8b1e209131cea28a9a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa693b1e209131cea21032.md>)

[Implementation](<https://github.com/djiajunustc/Voxel-R-CNN>)

Recorded evaluation configuration: {"Reference":"AAAI 2021"}. This record does not assert independent reproduction.

### SPG + PV-RCNN

AP Easy: 90.5. Result ID: 699ab63a5698665ec4440ea1.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6a8b1e209131cea28a9a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6a8b1e209131cea28a9a.md>)

Recorded evaluation configuration: {"Reference":null}. This record does not assert independent reproduction.

### PV-RCNN

AP Easy: 90.25. Result ID: 699ab63a5698665ec4440ea0.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6a8b1e209131cea28a9a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69b11e209131cea23700.md>)

[Implementation](<https://github.com/open-mmlab/OpenPCDet>)

Recorded evaluation configuration: {"Reference":"CVPR 2020"}. This record does not assert independent reproduction.

### CIA-SSD

AP Easy: 89.59. Result ID: 699ab63a5698665ec4440e9d.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6a8b1e209131cea28a9a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa68e01e209131cea1ee2b.md>)

[Implementation](<https://github.com/Vegeta2020/CIA-SSD>)

Recorded evaluation configuration: {"Reference":"AAAI 2021"}. This record does not assert independent reproduction.

### 3D-CVF

AP Easy: 89.2. Result ID: 699ab63a5698665ec4440e9c.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6a8b1e209131cea28a9a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa68db1e209131cea1eb60.md>)

Recorded evaluation configuration: {"Reference":"ECCV 2020"}. This record does not assert independent reproduction.

### SA-SSD

AP Easy: 88.75. Result ID: 699ab63a5698665ec4440e9b.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6a8b1e209131cea28a9a.md>)

Recorded evaluation configuration: {"Reference":"CVPR 2020"}. This record does not assert independent reproduction.

### Asso-3Ddet

AP Easy: 85.99. Result ID: 699ab63a5698665ec4440e9e.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6a8b1e209131cea28a9a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa67ab1e209131cea17a76.md>)

Recorded evaluation configuration: {"Reference":"CVPR 2020"}. This record does not assert independent reproduction.

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