3D Object Detection on KITTI (val) (AP3D & APBEV by Difficulty)
34.36AP3D (Easy)MonoTAKD
Evaluation results
| Method | Links | |||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| MonoTAKDExtra Data=LiDAR, Venue=CVPR 25, IoU threshold=>= 0.7, Knowledge Distillation=True2025.05 | 34.36 | 22.61 | 19.88 | 42.86 | 29.41 | 26.47 | — | — | — | — | — | — | — | |
| MonoIAExtra Data=None, Venue=CVPR 262026.03 | 33.61 | 24.4 | 20.8 | 44.69 | 32.17 | 27.93 | — | — | — | — | — | — | — | |
| MonoCoPExtra Data=None, Venue=CVPR 262026.03 | 32.06 | 23.98 | 20.64 | 42.2 | 31.29 | 27.58 | — | — | — | — | — | — | — | |
| MonoCoPExtra Data=None, Venue=CVPR 26, IoU threshold=>= 0.72025.05 | 32.06 | 23.98 | 20.64 | 42.2 | 31.29 | 27.58 | — | — | — | — | — | — | — | |
| MonoDGPExtra Data=None, Venue=CVPR 252026.03 | 30.76 | 22.34 | 19.02 | 39.4 | 28.2 | 24.42 | — | — | — | — | — | — | — | |
| MonoDGPExtra Data=None, Venue=CVPR 25, IoU threshold=>= 0.72025.05 | 30.76 | 22.34 | 19.02 | 39.4 | 28.2 | 24.42 | — | — | — | — | — | — | — | |
| MonoMAEExtra Data=None, Venue=NeurIPS 242026.03 | 30.29 | 20.9 | 17.61 | 40.26 | 27.08 | 23.14 | — | — | — | — | — | — | — | |
| MonoMAEExtra Data=None, Venue=NeurIPS 24, IoU threshold=>= 0.72025.05 | 30.29 | 20.9 | 17.61 | 40.26 | 27.08 | 23.14 | — | — | — | — | — | — | — | |
| MonoDETRExtra Data=None, Venue=ICCV 232026.03 | 28.84 | 20.61 | 16.38 | 37.86 | 26.95 | 22.8 | — | — | — | — | — | — | — | |
| MonoDETRExtra Data=None, Venue=ICCV 23, IoU threshold=>= 0.72025.05 | 28.84 | 20.61 | 16.38 | 37.86 | 26.95 | 22.8 | — | — | — | — | — | — | — | |
| FD3DExtra Data=None, Venue=AAAI 242026.03 | 28.22 | 20.23 | 17.04 | 36.98 | 26.77 | 23.16 | — | — | — | — | — | — | — | |
| FD3DExtra Data=None, Venue=AAAI 24, IoU threshold=>= 0.72025.05 | 28.22 | 20.23 | 17.04 | 36.98 | 26.77 | 23.16 | — | — | — | — | — | — | — | |
| OccupancyM3DExtra Data=LiDAR, Venue=CVPR 242026.03 | 26.87 | 19.96 | 17.15 | 35.72 | 26.6 | 23.68 | — | — | — | — | — | — | — | |
| OccupancyM3DExtra Data=LiDAR, Venue=CVPR 24, IoU threshold=>= 0.72025.05 | 26.87 | 19.96 | 17.15 | 35.72 | 26.6 | 23.68 | — | — | — | — | — | — | — | |
| MonoCDExtra Data=None, Venue=CVPR 242026.03 | 26.45 | 19.37 | 16.38 | 34.6 | 24.96 | 21.51 | — | — | — | — | — | — | — | |
| MonoCDExtra Data=None, Venue=CVPR 24, IoU threshold=>= 0.72025.05 | 26.45 | 19.37 | 16.38 | 34.6 | 24.96 | 21.51 | — | — | — | — | — | — | — | |
| MonoConExtra Data=None, Venue=AAAI 222026.03 | 26.33 | 19.01 | 15.98 | — | — | — | — | — | — | — | — | — | — | |
| MonoConExtra Data=None, Venue=AAAI 22, IoU threshold=>= 0.72025.05 | 26.33 | 19.01 | 15.98 | — | — | — | — | — | — | — | — | — | — | |
| OPA-3DExtra Data=Depth, Venue=ICRA 232026.03 | 24.97 | 19.4 | 16.59 | 33.8 | 25.51 | 22.13 | — | — | — | — | — | — | — | |
| OPA-3DExtra Data=Depth, Venue=ICRA 23, IoU threshold=>= 0.72025.05 | 24.97 | 19.4 | 16.59 | 33.8 | 25.51 | 22.13 | — | — | — | — | — | — | — | |
| DEVIANTExtra Data=None, Venue=ECCV 222026.03 | 24.63 | 16.54 | 14.52 | 32.6 | 23.04 | 19.99 | — | — | — | — | — | — | — | |
| DEVIANTExtra Data=None, Venue=ECCV 22, IoU threshold=>= 0.72025.05 | 24.63 | 16.54 | 14.52 | 32.6 | 23.04 | 19.99 | — | — | — | — | — | — | — | |
| MonoUNIExtra Data=None, Venue=NeurIPS 232026.03 | 24.51 | 17.18 | 14.01 | — | — | — | — | — | — | — | — | — | — | |
| MonoUNIExtra Data=None, Venue=NeurIPS 23, IoU threshold=>= 0.72025.05 | 24.51 | 17.18 | 14.01 | — | — | — | — | — | — | — | — | — | — | |
| MonoFlexExtra Data=None, Venue=CVPR 212026.03 | 23.64 | 17.51 | 14.83 | — | — | — | — | — | — | — | — | — | — | |
| MonoFlexExtra Data=None, Venue=CVPR 21, IoU threshold=>= 0.72025.05 | 23.64 | 17.51 | 14.83 | — | — | — | — | — | — | — | — | — | — | |
| GUP NetExtra Data=None, Venue=CVPR 212026.03 | 22.76 | 16.46 | 13.72 | 31.07 | 22.94 | 19.75 | — | — | — | — | — | — | — | |
| GUP NetExtra Data=None, Venue=CVPR 21, IoU threshold=>= 0.72025.05 | 22.76 | 16.46 | 13.72 | 31.07 | 22.94 | 19.75 | — | — | — | — | — | — | — | |
| BEVDetNetType=CNN2026.05 | — | — | — | — | — | — | — | 87.82 | 87.78 | 87.25 | 82.46 | 77.9 | 77.45 | |
| DeepSCNNType=SNN2026.05 | — | — | — | — | — | — | — | — | — | — | 71.76 | 67.43 | 65.63 | |
| MonoCoP#Param (M)=42.50, GFLOPs=71.772025.05 | — | — | — | — | — | — | 23.98 | — | — | — | — | — | — | |
| MonoDETR#Param (M)=35.93, GFLOPs=62.122025.05 | — | — | — | — | — | — | 21.12 | — | — | — | — | — | — | |
| MonoDGP#Param (M)=38.90, GFLOPs=68.992025.05 | — | — | — | — | — | — | 22.34 | — | — | — | — | — | — | |
| PixorType=CNN2026.05 | — | — | — | — | — | — | — | 89.62 | 83.45 | 80.11 | 86.79 | 80.75 | 76.6 | |
| PointPillarsType=CNN2026.05 | — | — | — | — | — | — | — | 90.78 | 90.18 | 89.46 | 88.32 | 86.1 | 79.83 | |
| PointRCNNType=CNN2026.05 | — | — | — | — | — | — | — | 90.2 | 89.63 | 89.39 | 92.13 | 87.39 | 82.72 | |
| spikeType=SNN2026.05 | — | — | — | — | — | — | — | 88.51 | 85.72 | 83.14 | 85.18 | 80.2 | 79.14 | |
| SpikeCloudNetType=SNN2026.05 | — | — | — | — | — | — | — | — | — | — | 89.8 | 84.1 | 82.7 | |
| SpikiLiType=SNN2026.05 | — | — | — | — | — | — | — | 86.37 | 78.65 | 78.76 | 82.71 | 75.49 | 68.68 | |
| vmemType=SNN2026.05 | — | — | — | — | — | — | — | 92.05 | 87.04 | 86.51 | 90.11 | 85.5 | 82.8 |