# 3D Object Detection on KITTI vehicle R40 (test) Source: [3D Object Detection on KITTI vehicle R40 (test)]() Collection index: [llms.txt]() Data updated: 2026-02-26T05:23:30.830Z Evaluation of 3D Object Detection performance on the KITTI vehicle subset using the R40 evaluation protocol on the test set, reporting Average Precision 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 vehicle R40 (test) | | Metric | AP\_R40 (Easy) | | Unit | PERCENT | | Direction | Higher is better | | Results loaded | 19 of 19 | | 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\_R40 (Easy)](): Higher is better; unit: PERCENT. - [AP\_R40 (Moderate)](): Higher is better; unit: PERCENT. - [AP\_R40 (Hard)](): Higher is better; unit: PERCENT. - [mAP](): Higher is better; unit: PERCENT. ## Recorded results | Method | AP\_R40 (Easy) | Result date | Report paper | | --- | --- | --- | --- | | GLENet-VR | 91.67 | Not recorded | 68fa740b1e209131cea5f6d9 | | SE-SSD | 91.49 | Not recorded | 68fa740b1e209131cea5f6d9 | | Voxel-RCNN | 90.9 | Not recorded | 68fa740b1e209131cea5f6d9 | | PV-RCNN | 90.25 | Not recorded | 68fa740b1e209131cea5f6d9 | | VOTR | 89.9 | Not recorded | 68fa740b1e209131cea5f6d9 | | EPNet | 89.81 | Not recorded | 68fa740b1e209131cea5f6d9 | | 3D-CVF | 89.2 | Not recorded | 68fa740b1e209131cea5f6d9 | | CLOCs | 88.94 | Not recorded | 68fa740b1e209131cea5f6d9 | | SA-SSD | 88.8 | Not recorded | 68fa740b1e209131cea5f6d9 | | MMF | 88.4 | Not recorded | 68fa740b1e209131cea5f6d9 | | Pyramid-PV | 88.39 | Not recorded | 68fa740b1e209131cea5f6d9 | | 3DSSD | 88.36 | Not recorded | 68fa740b1e209131cea5f6d9 | | PointGNN | 88.33 | Not recorded | 68fa740b1e209131cea5f6d9 | | STD | 87.95 | Not recorded | 68fa740b1e209131cea5f6d9 | | CT3D | 87.83 | Not recorded | 68fa740b1e209131cea5f6d9 | | Part-A2 | 87.81 | Not recorded | 68fa740b1e209131cea5f6d9 | | F-PointNet | 82.19 | Not recorded | 68fa740b1e209131cea5f6d9 | | PointPainting | 82.11 | Not recorded | 68fa740b1e209131cea5f6d9 | | MV3D | 74.97 | Not recorded | 68fa740b1e209131cea5f6d9 | ### GLENet-VR AP\_R40 (Easy): 91.67. Result ID: 699316253a6c314849139c4a. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Modality":"LiDAR"}. This record does not assert independent reproduction. ### SE-SSD AP\_R40 (Easy): 91.49. Result ID: 699316253a6c314849139c46. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modality":"LiDAR"}. This record does not assert independent reproduction. ### Voxel-RCNN AP\_R40 (Easy): 90.9. Result ID: 699316253a6c314849139c45. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Modality":"LiDAR"}. This record does not assert independent reproduction. ### PV-RCNN AP\_R40 (Easy): 90.25. Result ID: 699316253a6c314849139c43. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Modality":"LiDAR"}. This record does not assert independent reproduction. ### VOTR AP\_R40 (Easy): 89.9. Result ID: 699316253a6c314849139c47. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modality":"LiDAR"}. This record does not assert independent reproduction. ### EPNet AP\_R40 (Easy): 89.81. Result ID: 699316253a6c314849139c3d. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modality":"RGB+LiDAR"}. This record does not assert independent reproduction. ### 3D-CVF AP\_R40 (Easy): 89.2. Result ID: 699316253a6c314849139c3e. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modality":"RGB+LiDAR"}. This record does not assert independent reproduction. ### CLOCs AP\_R40 (Easy): 88.94. Result ID: 699316253a6c314849139c3c. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modality":"RGB+LiDAR"}. This record does not assert independent reproduction. ### SA-SSD AP\_R40 (Easy): 88.8. Result ID: 699316253a6c314849139c42. [Reporting paper]() Recorded evaluation configuration: {"Modality":"LiDAR"}. This record does not assert independent reproduction. ### MMF AP\_R40 (Easy): 88.4. Result ID: 699316253a6c314849139c3a. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Modality":"RGB+LiDAR"}. This record does not assert independent reproduction. ### Pyramid-PV AP\_R40 (Easy): 88.39. Result ID: 699316253a6c314849139c48. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modality":"LiDAR"}. This record does not assert independent reproduction. ### 3DSSD AP\_R40 (Easy): 88.36. Result ID: 699316253a6c314849139c41. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modality":"LiDAR"}. This record does not assert independent reproduction. ### PointGNN AP\_R40 (Easy): 88.33. Result ID: 699316253a6c314849139c44. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modality":"LiDAR"}. This record does not assert independent reproduction. ### STD AP\_R40 (Easy): 87.95. Result ID: 699316253a6c314849139c3f. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modality":"LiDAR"}. This record does not assert independent reproduction. ### CT3D AP\_R40 (Easy): 87.83. Result ID: 699316253a6c314849139c49. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modality":"LiDAR"}. This record does not assert independent reproduction. ### Part-A2 AP\_R40 (Easy): 87.81. Result ID: 699316253a6c314849139c40. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modality":"LiDAR"}. This record does not assert independent reproduction. ### F-PointNet AP\_R40 (Easy): 82.19. Result ID: 699316253a6c314849139c39. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modality":"RGB+LiDAR"}. This record does not assert independent reproduction. ### PointPainting AP\_R40 (Easy): 82.11. Result ID: 699316253a6c314849139c3b. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modality":"RGB+LiDAR"}. This record does not assert independent reproduction. ### MV3D AP\_R40 (Easy): 74.97. Result ID: 699316253a6c314849139c38. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modality":"RGB+LiDAR"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.