3D Object Detection on KITTI (val) (R11/R40 AP3D)
93.59AP3D R40 EasyCIA-SSD
Evaluation results
| Method | Links | |||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| CIA-SSD2022.07 | 93.59 | 90.04 | 79.81 | 78.8 | 84.16 | 81.2 | — | — | — | — | — | — | — | — | — | |
| GLENet-VRModal=LiDAR2023.01 | 93.51 | 89.93 | 86.46 | 79.19 | 86.1 | 83.6 | — | — | — | — | — | — | — | — | — | |
| GLENet-VRBase detector=Voxel R-CNN2022.07 | 93.51 | 89.93 | 86.46 | 79.19 | 86.1 | 83.6 | — | — | — | — | — | — | — | — | — | |
| GLENet-CBase detector=CIA-SSD2022.07 | 93.2 | 89.82 | 84.59 | 78.78 | 85.16 | 81.94 | — | — | — | — | — | — | — | — | — | |
| SE-SSDModal=LiDAR2023.01 | 93.19 | 90.21 | 85.71 | 79.22 | 86.12 | 83.31 | — | — | — | — | — | — | — | — | — | |
| SE-SSD2022.07 | 93.19 | 90.21 | 85.71 | 79.22 | 86.12 | 83.31 | — | — | — | — | — | — | — | — | — | |
| SA-SSDModal=LiDAR2023.01 | 93.14 | 90.15 | 79.91 | 78.78 | 84.65 | 81.86 | — | — | — | — | — | — | — | — | — | |
| UPIDetModal=LiDAR+RGB2023.01 | 93.03 | 89.72 | 86.52 | 79.34 | 86.46 | 83.73 | — | — | — | — | — | — | — | — | — | |
| CT3D2022.07 | 92.85 | 89.54 | 86.06 | 78.99 | 85.82 | 83.46 | — | — | — | — | — | — | — | — | — | |
| PV-RCNNModal=LiDAR2023.01 | 92.57 | 89.35 | 83.69 | 78.7 | 84.83 | 82.69 | — | — | — | — | — | — | — | — | — | |
| PV-RCNN2022.07 | 92.57 | 89.35 | 83.69 | 78.7 | 84.83 | 83.31 | — | — | — | — | — | — | — | — | — | |
| Voxel R-CNNModal=LiDAR2023.01 | 92.38 | 89.41 | 84.52 | 78.93 | 85.29 | 82.86 | — | — | — | — | — | — | — | — | — | |
| Voxel R-CNN2022.07 | 92.38 | 89.41 | 84.52 | 78.93 | 85.29 | 82.86 | — | — | — | — | — | — | — | — | — | |
| SA-SSD2022.07 | 92.23 | 90.15 | 79.91 | 78.78 | 84.3 | 81.36 | — | — | — | — | — | — | — | — | — | |
| GLENet-SBase detector=SECOND2022.07 | 91.73 | 88.68 | 82.95 | 78.19 | 84.11 | 81.35 | — | — | — | — | — | — | — | — | — | |
| SECOND2022.07 | 91.16 | 88.61 | 78.62 | 77.22 | 81.99 | 78.82 | — | — | — | — | — | — | — | — | — | |
| 3D-CVFModal=LiDAR+RGB2023.01 | 89.67 | — | — | — | 79.88 | 78.47 | — | — | — | — | — | — | — | — | — | |
| MV3DModal=LiDAR+RGB2023.01 | 71.29 | — | — | — | 62.68 | 56.56 | — | — | — | — | — | — | — | — | — | |
| Lift3DBase Detector=CenterNet [53], Target Category=Car2023.04 | 24.07 | — | — | — | 18.09 | 15.06 | — | — | — | — | — | — | — | — | — | |
| SimpleCopyPasteBase Detector=CenterNet [53], Target Category=Car2023.04 | 22.23 | — | — | — | 15.47 | 13.24 | — | — | — | — | — | — | — | — | — | |
| Original dataBase Detector=CenterNet [53], Target Category=Car2023.04 | 21.57 | — | — | — | 15.51 | 13.58 | — | — | — | — | — | — | — | — | — | |
| GIRAFFEBase Detector=CenterNet [53], Target Category=Car, Augmentation=Generative model paste2023.04 | 20.79 | — | — | — | 15.1 | 12.5 | — | — | — | — | — | — | — | — | — | |
| ShapeNet modelBase Detector=CenterNet [53], Target Category=Car, Augmentation=20 CAD models from ShapeNet2023.04 | 19.64 | — | — | — | 15.75 | 13.8 | — | — | — | — | — | — | — | — | — | |
| GIRAFFE HDBase Detector=CenterNet [53], Target Category=Car, Augmentation=Generative model paste2023.04 | 19.3 | — | — | — | 14.44 | 12.39 | — | — | — | — | — | — | — | — | — | |
| 3D-CVFModality=LiDAR+RGB2022.05 | — | — | — | — | — | — | 89.67 | 79.88 | 78.47 | — | — | — | — | — | — | |
| 3DSSD2022.07 | — | 89.71 | 79.45 | 78.67 | — | — | — | — | — | — | — | — | — | — | — | |
| EPNetModality=LiDAR+RGB2022.05 | — | — | — | — | — | — | 92.28 | 82.59 | 80.14 | — | — | — | 95.51 | 88.76 | 88.36 | |
| Part-A22022.07 | — | 89.47 | 79.47 | 78.54 | — | — | — | — | — | — | — | — | — | — | — | |
| PointRCNNModality=LiDAR2022.05 | — | — | — | — | — | — | — | — | — | 88.88 | 78.63 | 77.38 | — | — | — | |
| PV-RCNNModality=LiDAR2022.05 | — | — | — | — | — | — | 92.57 | 84.83 | 82.69 | 89.35 | 83.69 | 78.7 | 95.76 | 91.11 | 88.93 | |
| PV-RCNN*Modality=LiDAR+RGB, Note=reproduction from official source code2022.05 | — | — | — | — | — | — | 91.53 | 84.36 | 82.29 | 88.95 | 83.51 | 78.72 | 92.82 | 90.43 | 88.41 | |
| PV-RCNN* + VFFModality=LiDAR+RGB2022.05 | — | — | — | — | — | — | 92.31 | 85.51 | 82.92 | 89.45 | 84.21 | 79.13 | 95.43 | 91.4 | 90.66 | |
| Pyramid-PV2022.07 | — | 89.37 | 84.38 | 78.84 | — | — | — | — | — | — | — | — | — | — | — | |
| SECONDModality=LiDAR2022.05 | — | — | — | — | — | — | — | — | — | 87.43 | 76.48 | 69.1 | — | — | — | |
| STDModality=LiDAR2022.05 | — | — | — | — | — | — | — | — | — | 89.7 | 79.8 | 79.3 | — | — | — | |
| UberATG-MMFModality=LiDAR+RGB2022.05 | — | — | — | — | — | — | — | — | — | 88.4 | 77.43 | 70.22 | — | — | — | |
| VOTR2022.07 | — | 89.04 | 84.04 | 78.68 | — | — | — | — | — | — | — | — | — | — | — | |
| Voxel R-CNNModality=LiDAR2022.05 | — | — | — | — | — | — | 92.38 | 85.29 | 82.86 | 89.41 | 84.52 | 78.93 | 95.52 | 91.25 | 88.99 | |
| Voxel R-CNN*Modality=LiDAR+RGB, Note=reproduction from official source code2022.05 | — | — | — | — | — | — | 92.27 | 84.88 | 82.5 | 89.46 | 83.61 | 78.8 | 95.51 | 91.13 | 88.85 | |
| Voxel R-CNN* + VFFModality=LiDAR+RGB2022.05 | — | — | — | — | — | — | 92.47 | 85.65 | 83.38 | 89.51 | 84.76 | 79.21 | 95.65 | 91.75 | 91.39 |