ResearchBenchmarks3D Object Detection on nuScenes (val) (AP3D Difficulty Breakdown)3D Object Detection on nuScenes (val) (AP3D Difficulty Breakdown)Follow12.33AP3D (Easy)MonoIA9.41810.17410.9311.686Mar 28, 2026Evaluation resultsMethodMethodLinksAP3D (Easy)AP3D (Mod.)MonoIAIoU threshold=≥ 0.7IoU threshold=≥ 0.72026.0312.3310.74MonoCoPIoU threshold=≥ 0.7IoU threshold=≥ 0.72026.0310.859.71MonoDGPIoU threshold=≥ 0.7IoU threshold=≥ 0.72026.0310.048.78DEVIANTIoU threshold=≥ 0.7IoU threshold=≥ 0.72026.039.698.33MonoDETRIoU threshold=≥ 0.7IoU threshold=≥ 0.72026.039.538.19