3D Object Detection on KITTI (val)
97.04AP BEV (Overall)CG-Stereo
Evaluation results
| Method | Links | ||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| CG-StereoIoU threshold=0.5, Difficulty=Easy, Recall positions=112020.03 | 97.04 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 90.58 | — | — | — | |
| OC-StereoIoU threshold=0.5, Difficulty=Easy, Recall positions=112020.03 | 90.01 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 89.65 | — | — | — | |
| PL++:PIXORIoU threshold=0.5, Difficulty=Easy, Recall positions=112020.03 | 89.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PL:F-PointNetIoU threshold=0.5, Difficulty=Easy, Recall positions=112020.03 | 89.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 89.5 | — | — | — | |
| PL++:P-RCNNIoU threshold=0.5, Difficulty=Easy, Recall positions=112020.03 | 89.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 89.7 | — | — | — | |
| PL++:AVODIoU threshold=0.5, Difficulty=Easy, Recall positions=112020.03 | 89.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 89 | — | — | — | |
| PL:AVODIoU threshold=0.5, Difficulty=Easy, Recall positions=112020.03 | 89 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 88.5 | — | — | — | |
| CG-StereoIoU threshold=0.5, Difficulty=Moderate, Recall positions=112020.03 | 88.58 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 87.01 | — | — | — | |
| CG-StereoIoU threshold=0.7, Difficulty=Easy, Recall positions=112020.03 | 87.31 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 76.17 | — | — | — | |
| Stereo-RCNNIoU threshold=0.5, Difficulty=Easy, Recall positions=112020.03 | 87.13 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 85.84 | — | — | — | |
| PL++:P-RCNNIoU threshold=0.5, Difficulty=Moderate, Recall positions=112020.03 | 83.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 78.6 | — | — | — | |
| DSGNIoU threshold=0.7, Difficulty=Easy, Recall positions=112020.03 | 83.24 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 73.21 | — | — | — | |
| PL++:P-RCNNIoU threshold=0.7, Difficulty=Easy, Recall positions=112020.03 | 82 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 67.9 | — | — | — | |
| OC-StereoIoU threshold=0.5, Difficulty=Moderate, Recall positions=112020.03 | 80.63 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 80.03 | — | — | — | |
| CG-StereoIoU threshold=0.5, Difficulty=Hard, Recall positions=112020.03 | 80.34 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 79.76 | — | — | — | |
| PL++:PIXORIoU threshold=0.7, Difficulty=Easy, Recall positions=112020.03 | 79.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PL++:AVODIoU threshold=0.5, Difficulty=Moderate, Recall positions=112020.03 | 79 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 77.8 | — | — | — | |
| PL++:PIXORIoU threshold=0.5, Difficulty=Moderate, Recall positions=112020.03 | 78.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OC-StereoIoU threshold=0.7, Difficulty=Easy, Recall positions=112020.03 | 77.66 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 64.07 | — | — | — | |
| PL:F-PointNetIoU threshold=0.5, Difficulty=Moderate, Recall positions=112020.03 | 77.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 75.5 | — | — | — | |
| PL:AVODIoU threshold=0.5, Difficulty=Moderate, Recall positions=112020.03 | 77.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 76.4 | — | — | — | |
| PL++:P-RCNNIoU threshold=0.5, Difficulty=Hard, Recall positions=112020.03 | 77.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 75.1 | — | — | — | |
| PL++:AVODIoU threshold=0.7, Difficulty=Easy, Recall positions=112020.03 | 77 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 63.2 | — | — | — | |
| PL:AVODIoU threshold=0.7, Difficulty=Easy, Recall positions=112020.03 | 74.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 61.9 | — | — | — | |
| PL++:PIXORIoU threshold=0.5, Difficulty=Hard, Recall positions=112020.03 | 74.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Stereo-RCNNIoU threshold=0.5, Difficulty=Moderate, Recall positions=112020.03 | 74.11 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 66.28 | — | — | — | |
| PL:F-PointNetIoU threshold=0.7, Difficulty=Easy, Recall positions=112020.03 | 72.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 59.4 | — | — | — | |
| OC-StereoIoU threshold=0.5, Difficulty=Hard, Recall positions=112020.03 | 71.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 70.34 | — | — | — | |
| PL++:AVODIoU threshold=0.5, Difficulty=Hard, Recall positions=112020.03 | 70.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 69.1 | — | — | — | |
| PL:AVODIoU threshold=0.5, Difficulty=Hard, Recall positions=112020.03 | 68.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 61.2 | — | — | — | |
| CG-StereoIoU threshold=0.7, Difficulty=Moderate, Recall positions=112020.03 | 68.69 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 57.82 | — | — | — | |
| Stereo-RCNNIoU threshold=0.7, Difficulty=Easy, Recall positions=112020.03 | 68.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 54.11 | — | — | — | |
| PL:F-PointNetIoU threshold=0.5, Difficulty=Hard, Recall positions=112020.03 | 68.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 66.3 | — | — | — | |
| OC-StereoIoU threshold=0.7, Difficulty=Moderate, Recall positions=112020.03 | 65.95 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 48.34 | — | — | — | |
| CG-StereoIoU threshold=0.7, Difficulty=Hard, Recall positions=112020.03 | 65.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 54.63 | — | — | — | |
| PL++:P-RCNNIoU threshold=0.7, Difficulty=Moderate, Recall positions=112020.03 | 64 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 50.1 | — | — | — | |
| DSGNIoU threshold=0.7, Difficulty=Moderate, Recall positions=112020.03 | 63.91 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 54.27 | — | — | — | |
| PL++:AVODIoU threshold=0.7, Difficulty=Moderate, Recall positions=112020.03 | 63.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 46.8 | — | — | — | |
| TLNetIoU threshold=0.5, Difficulty=Easy, Recall positions=112020.03 | 62.46 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 59.51 | — | — | — | |
| PL++:PIXORIoU threshold=0.7, Difficulty=Moderate, Recall positions=112020.03 | 61.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Stereo-RCNNIoU threshold=0.5, Difficulty=Hard, Recall positions=112020.03 | 58.93 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 57.24 | — | — | — | |
| DSGNIoU threshold=0.7, Difficulty=Hard, Recall positions=112020.03 | 57.83 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 47.71 | — | — | — | |
| PL++:P-RCNNIoU threshold=0.7, Difficulty=Hard, Recall positions=112020.03 | 57.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 45.3 | — | — | — | |
| PL:AVODIoU threshold=0.7, Difficulty=Moderate, Recall positions=112020.03 | 56.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 45.3 | — | — | — | |
| PL++:AVODIoU threshold=0.7, Difficulty=Hard, Recall positions=112020.03 | 56 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 39.8 | — | — | — | |
| PL++:PIXORIoU threshold=0.7, Difficulty=Hard, Recall positions=112020.03 | 54.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PL:F-PointNetIoU threshold=0.7, Difficulty=Moderate, Recall positions=112020.03 | 51.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 39.8 | — | — | — | |
| OC-StereoIoU threshold=0.7, Difficulty=Hard, Recall positions=112020.03 | 51.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 40.39 | — | — | — | |
| PL:AVODIoU threshold=0.7, Difficulty=Hard, Recall positions=112020.03 | 49 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 39 | — | — | — | |
| Stereo-RCNNIoU threshold=0.7, Difficulty=Moderate, Recall positions=112020.03 | 48.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 36.69 | — | — | — | |
| TLNetIoU threshold=0.5, Difficulty=Moderate, Recall positions=112020.03 | 45.99 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 43.71 | — | — | — | |
| PL:F-PointNetIoU threshold=0.7, Difficulty=Hard, Recall positions=112020.03 | 44 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 33.5 | — | — | — | |
| TLNetIoU threshold=0.5, Difficulty=Hard, Recall positions=112020.03 | 41.92 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 37.99 | — | — | — | |
| Stereo-RCNNIoU threshold=0.7, Difficulty=Hard, Recall positions=112020.03 | 41.47 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 31.07 | — | — | — | |
| TLNetIoU threshold=0.7, Difficulty=Easy, Recall positions=112020.03 | 29.22 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 18.15 | — | — | — | |
| TLNetIoU threshold=0.7, Difficulty=Moderate, Recall positions=112020.03 | 21.88 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 14.26 | — | — | — | |
| TLNetIoU threshold=0.7, Difficulty=Hard, Recall positions=112020.03 | 18.83 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 13.72 | — | — | — | |
| 3DOPData=Stereo, 3D box regression=[5]2016.11 | — | 85.49 | 68.82 | 64.09 | 46.04 | 34.63 | 30.09 | 6.55 | 5.07 | 4.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DOPModality=Stereo2017.11 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 6.55 | 5.07 | 4.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DOPInput=Image2018.02 | — | — | — | — | 46.04 | 34.63 | 30.09 | 6.55 | 5.07 | 4.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DOPModality=Stereo2018.11 | — | — | — | — | — | — | — | — | — | — | 6.55 | — | 5.07 | — | 4.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DOPModality=Single (S), IoU=0.72019.04 | — | — | — | — | — | — | — | — | — | — | 6.55 | — | 5.07 | — | 4.1 | — | — | — | — | — | — | — | — | — | — | 12.6 | 9.49 | 7.5 | — | — | — | — | |
| 3DOPVenue=TPAMI 2017, Extra Labels=Stereo, Time=3s2021.07 | — | — | — | — | — | — | — | — | — | — | 6.55 | — | 5.07 | — | 4.1 | — | — | — | — | — | — | — | — | — | — | 12.63 | 9.49 | 7.59 | — | — | — | — | |
| All-in-focusInput=RGB2019.04 | — | — | — | — | — | — | — | — | — | — | 16.86 | — | 13.82 | — | 13.26 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AVODFeature Extractor=Feature Pyramid2017.12 | — | — | — | — | — | — | — | — | — | — | 84.41 | 84.19 | 74.44 | 74.11 | 68.65 | 68.28 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AVODrepresentation=3D2018.12 | — | — | — | — | — | — | — | — | — | — | 84.41 | — | 74.44 | — | 68.65 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Baseline VoxelNetModality=Single (S), IoU=0.7, Note=Trimmed RPN and less data augmentation2019.04 | — | — | — | — | — | — | — | — | — | — | 79.5 | — | 65.7 | — | 64.6 | — | — | — | — | — | — | — | — | — | — | 87.6 | 83.7 | 78.4 | — | — | — | — | |
| Deep3DBox2017.12 | — | — | — | — | — | — | — | — | — | — | 5.84 | 5.84 | 4.09 | 4.09 | 3.83 | 3.83 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Deep3DBoxInput=Image2018.02 | — | — | — | — | 24.76 | 21.95 | 16.87 | 5.4 | 5.66 | 3.97 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Deep3DBoxVenue=CVPR 2018, Extra Labels=None2021.07 | — | — | — | — | — | — | — | — | — | — | 5.85 | — | 4.1 | — | 3.84 | — | — | — | — | — | — | — | — | — | — | 9.99 | 7.71 | 5.3 | — | — | — | — | |
| Deformable PV-RCNNDifficulty level=Moderate, Recall positions=112020.08 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 83.3 | 73.46 | 58.33 | |
| F-PointNetrepresentation=3D2018.12 | — | — | — | — | — | — | — | — | — | — | 83.76 | — | 70.92 | — | 63.65 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| F-PointNetModality=Multimodal (M), IoU=0.72019.04 | — | — | — | — | — | — | — | — | — | — | 83.8 | — | 70.9 | — | 63.7 | — | — | — | — | — | — | — | — | — | — | 88.2 | 84 | 76.4 | — | — | — | — | |
| F-PointNetLatency=29.1 ms, GPU Mem.=1.3 GB2019.07 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 83.26 | 69.28 | 62.56 | 65.08 | 55.85 | 49.28 | 74.54 | 55.95 | 52.65 | — | — | — | — | — | — | — | |
| F-PointNetDifficulty level=Moderate, Recall positions=112020.08 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 70.92 | 56.49 | 61.32 | |
| F-PointNet++Latency=105.2 ms, GPU Mem.=2.0 GB2019.07 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 83.76 | 70.92 | 63.65 | 70 | 61.32 | 53.59 | 77.15 | 56.49 | 53.37 | — | — | — | — | — | — | — | |
| FCOS3DVenue=ICCVW 2021, Extra Labels=None2021.07 | — | — | — | — | — | — | — | — | — | — | 13.9 | — | 11.61 | — | 10.98 | — | — | — | — | — | — | — | — | — | — | 18.16 | 14.02 | 13.85 | — | — | — | — | |
| ForeSeE (AVOD)Venue=AAAI 2020, Extra Labels=Dense Depth2021.07 | — | — | — | — | — | — | — | — | — | — | 15 | — | 12.5 | — | 12 | — | — | — | — | — | — | — | — | — | — | 23.4 | 17.4 | 15.9 | — | — | — | — | |
| FQNetVenue=CVPR 2019, Extra Labels=None, Time=3.33s2021.07 | — | — | — | — | — | — | — | — | — | — | 5.98 | — | 5.5 | — | 4.75 | — | — | — | — | — | — | — | — | — | — | 9.5 | 8.02 | 7.71 | — | — | — | — | |
| GS3DVenue=CVPR 2019, Extra Labels=None, Time=2.3s2021.07 | — | — | — | — | — | — | — | — | — | — | 13.46 | — | 10.97 | — | 10.38 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| HC-baselineModality=LiDAR2017.11 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 71.73 | 59.75 | 55.69 | 43.95 | 40.18 | 37.48 | 55.35 | 36.07 | 34.15 | — | — | — | — | — | — | — | |
| IPODrepresentation=3D2018.12 | — | — | — | — | — | — | — | — | — | — | 84.1 | — | 76.4 | — | 75.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| M3D-RPNVenue=ICCV 2019, Extra Labels=None, Time=0.16s2021.07 | — | — | — | — | — | — | — | — | — | — | 20.27 | — | 17.06 | — | 15.21 | — | — | — | — | — | — | — | — | — | — | 25.94 | 21.18 | 17.9 | — | — | — | — | |
| MF3DVenue=CVPR 2018, Extra Labels=Dense Depth2021.07 | — | — | — | — | — | — | — | — | — | — | 10.53 | — | 5.69 | — | 5.39 | — | — | — | — | — | — | — | — | — | — | 22.03 | 13.63 | 11.6 | — | — | — | — | |
| Mono3DData=Mono, 3D box regression=[5]2016.11 | — | 62.94 | 48.2 | 42.68 | 25.19 | 18.2 | 15.52 | 2.53 | 2.31 | 2.31 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Mono3DModality=Mono2017.11 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 2.53 | 2.31 | 2.31 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Mono3DInput=Image2018.02 | — | — | — | — | 25.19 | 18.2 | 15.52 | 2.53 | 2.31 | 2.31 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Mono3DModality=Mono2018.11 | — | — | — | — | — | — | — | — | — | — | 2.53 | — | 2.31 | — | 2.31 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Mono3DModality=Single (S), IoU=0.72019.04 | — | — | — | — | — | — | — | — | — | — | 2.53 | — | 2.31 | — | 2.31 | — | — | — | — | — | — | — | — | — | — | 5.22 | 5.19 | 4.13 | — | — | — | — | |
| Mono3DVenue=CVPR 2016, Extra Labels=Mask, Time=4.2s2021.07 | — | — | — | — | — | — | — | — | — | — | 2.53 | — | 2.31 | — | 2.31 | — | — | — | — | — | — | — | — | — | — | 5.22 | 5.19 | 4.13 | — | — | — | — | |
| Mono3D++Venue=AAAI 2018, Extra Labels=Dense Depth+Shape, Time=>0.6s2021.07 | — | — | — | — | — | — | — | — | — | — | 10.6 | — | 7.9 | — | 5.7 | — | — | — | — | — | — | — | — | — | — | 16.7 | 11.5 | 10.1 | — | — | — | — | |
| MonoDISVenue=ICCV 2019, Extra Labels=None2021.07 | — | — | — | — | — | — | — | — | — | — | 18.05 | — | 14.98 | — | 13.42 | — | — | — | — | — | — | — | — | — | — | 24.26 | 18.43 | 16.95 | — | — | — | — | |
| MonoGRNetVenue=AAAI 2019, Extra Labels=None, Time=0.06s2021.07 | — | — | — | — | — | — | — | — | — | — | 13.88 | — | 10.19 | — | 7.62 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MV (BV+FV)Modality=LiDAR2017.11 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 71.19 | 56.6 | 55.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MV (BV+FV+RGB)Modality=LiDAR+Mono2017.11 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 71.29 | 62.68 | 56.56 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MV3D2017.12 | — | — | — | — | — | — | — | — | — | — | 83.87 | 52.74 | 72.35 | 43.75 | 64.56 | 39.86 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MV3DInput=Fusion2018.02 | — | — | — | — | 96.02 | 89.05 | 88.38 | 71.29 | 62.68 | 56.56 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MV3DModality=Single (S), IoU=0.72019.04 | — | — | — | — | — | — | — | — | — | — | 71.2 | — | 56.6 | — | 55.3 | — | — | — | — | — | — | — | — | — | — | 86.2 | 77.3 | 76.3 | — | — | — | — | |
| MV3DModality=Multimodal (M), IoU=0.72019.04 | — | — | — | — | — | — | — | — | — | — | 71.3 | — | 62.7 | — | 56.6 | — | — | — | — | — | — | — | — | — | — | 86.6 | 78.1 | 76.7 | — | — | — | — | |
| MV3D (BV+FV)Data=LIDAR2016.11 | — | 96.03 | 88.85 | 88.39 | 95.19 | 87.65 | 80.11 | 71.19 | 56.6 | 55.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — |