# 3D Object Detection on Rope3D Big Vehicle category heterologous benchmark (test)

Source: [3D Object Detection on Rope3D Big Vehicle category heterologous benchmark (test)](<https://www.sota2.com/research/sota/3d-object-detection-on-rope3d-big-vehicle-category-heterologous-benchmark-test>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-02-26T05:22:55.850Z

Evaluation of 3D Object Detection performance on the test split of the Rope3D dataset, specifically focusing on the Big Vehicle category under heterologous evaluation settings.

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) | Rope3D Big Vehicle category heterologous benchmark (test) |
| Metric | AP |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 18 of 18 |
| 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](<https://www.sota2.com/research/sota/3d-object-detection-on-rope3d-big-vehicle-category-heterologous-benchmark-test.md?metric=AP>): Higher is better; unit: PERCENT.

- [Rope](<https://www.sota2.com/research/sota/3d-object-detection-on-rope3d-big-vehicle-category-heterologous-benchmark-test.md?metric=Rope>): Higher is better; unit: PERCENT.

## Recorded results

| Method | AP | Result date | Report paper |
| --- | --- | --- | --- |
| MonoFlex | 13.1 | Not recorded | 69365b6cd6b0dd3342934b0a |
| LeAD-M3D X | 8.71 | Not recorded | 69365b6cd6b0dd3342934b0a |
| LeAD-M3D B | 5.4 | Not recorded | 69365b6cd6b0dd3342934b0a |
| LeAD-M3D M | 4.95 | Not recorded | 69365b6cd6b0dd3342934b0a |
| LeAD-M3D S | 4.16 | Not recorded | 69365b6cd6b0dd3342934b0a |
| GroundMix | 3.9 | Not recorded | 69365b6cd6b0dd3342934b0a |
| M3D-RPN | 3.39 | Not recorded | 69365b6cd6b0dd3342934b0a |
| MonoDLE | 3.02 | Not recorded | 69365b6cd6b0dd3342934b0a |
| M3D-RPN | 2.78 | Not recorded | 69365b6cd6b0dd3342934b0a |
| MonoDLE | 2.31 | Not recorded | 69365b6cd6b0dd3342934b0a |
| CoBEV | 2.26 | Not recorded | 69365b6cd6b0dd3342934b0a |
| LeAD-M3D N | 1.8 | Not recorded | 69365b6cd6b0dd3342934b0a |
| MonoCon | 1.61 | Not recorded | 69365b6cd6b0dd3342934b0a |
| Kinematic3D | 1.27 | Not recorded | 69365b6cd6b0dd3342934b0a |
| BEVHeight | 1.16 | Not recorded | 69365b6cd6b0dd3342934b0a |
| MonoFlex | 0.97 | Not recorded | 69365b6cd6b0dd3342934b0a |
| BEVFormer | 0.84 | Not recorded | 69365b6cd6b0dd3342934b0a |
| BEVDepth | 0.3 | Not recorded | 69365b6cd6b0dd3342934b0a |

### MonoFlex

AP: 13.1. Result ID: 6998882c5698665ec4e99d05.

[Reporting paper](<https://www.sota2.com/research/paper/69365b6cd6b0dd3342934b0a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69ad1e209131cea234cb.md>)

[Implementation](<https://github.com/zhangyp15/MonoFlex>)

Recorded evaluation configuration: {"GPF":false}. This record does not assert independent reproduction.

### LeAD-M3D X

AP: 8.71. Result ID: 6998882c5698665ec4e99d14.

[Reporting paper](<https://www.sota2.com/research/paper/69365b6cd6b0dd3342934b0a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69365b6cd6b0dd3342934b0a.md>)

Recorded evaluation configuration: {"GPF":true}. This record does not assert independent reproduction.

### LeAD-M3D B

AP: 5.4. Result ID: 6998882c5698665ec4e99d13.

[Reporting paper](<https://www.sota2.com/research/paper/69365b6cd6b0dd3342934b0a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69365b6cd6b0dd3342934b0a.md>)

Recorded evaluation configuration: {"GPF":true}. This record does not assert independent reproduction.

### LeAD-M3D M

AP: 4.95. Result ID: 6998882c5698665ec4e99d12.

[Reporting paper](<https://www.sota2.com/research/paper/69365b6cd6b0dd3342934b0a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69365b6cd6b0dd3342934b0a.md>)

Recorded evaluation configuration: {"GPF":true}. This record does not assert independent reproduction.

### LeAD-M3D S

AP: 4.16. Result ID: 6998882c5698665ec4e99d11.

[Reporting paper](<https://www.sota2.com/research/paper/69365b6cd6b0dd3342934b0a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69365b6cd6b0dd3342934b0a.md>)

Recorded evaluation configuration: {"GPF":true}. This record does not assert independent reproduction.

### GroundMix

AP: 3.9. Result ID: 6998882c5698665ec4e99d0f.

[Reporting paper](<https://www.sota2.com/research/paper/69365b6cd6b0dd3342934b0a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa75531e209131cea672cd.md>)

Recorded evaluation configuration: {"GPF":true}. This record does not assert independent reproduction.

### M3D-RPN

AP: 3.39. Result ID: 6998882c5698665ec4e99d03.

[Reporting paper](<https://www.sota2.com/research/paper/69365b6cd6b0dd3342934b0a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa663a1e209131cea0ef88.md>)

[Implementation](<http://cvlab.cse.msu.edu/project-m3d-rpn.html>)

Recorded evaluation configuration: {"GPF":false}. This record does not assert independent reproduction.

### MonoDLE

AP: 3.02. Result ID: 6998882c5698665ec4e99d04.

[Reporting paper](<https://www.sota2.com/research/paper/69365b6cd6b0dd3342934b0a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa699a1e209131cea22fc4.md>)

[Implementation](<https://github.com/xinzhuma/monodle>)

Recorded evaluation configuration: {"GPF":false}. This record does not assert independent reproduction.

### M3D-RPN

AP: 2.78. Result ID: 6998882c5698665ec4e99d08.

[Reporting paper](<https://www.sota2.com/research/paper/69365b6cd6b0dd3342934b0a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa663a1e209131cea0ef88.md>)

[Implementation](<http://cvlab.cse.msu.edu/project-m3d-rpn.html>)

Recorded evaluation configuration: {"GPF":true}. This record does not assert independent reproduction.

### MonoDLE

AP: 2.31. Result ID: 6998882c5698665ec4e99d0a.

[Reporting paper](<https://www.sota2.com/research/paper/69365b6cd6b0dd3342934b0a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa699a1e209131cea22fc4.md>)

[Implementation](<https://github.com/xinzhuma/monodle>)

Recorded evaluation configuration: {"GPF":true}. This record does not assert independent reproduction.

### CoBEV

AP: 2.26. Result ID: 6998882c5698665ec4e99d07.

[Reporting paper](<https://www.sota2.com/research/paper/69365b6cd6b0dd3342934b0a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa74de1e209131cea644ee.md>)

Recorded evaluation configuration: {"GPF":false}. This record does not assert independent reproduction.

### LeAD-M3D N

AP: 1.8. Result ID: 6998882c5698665ec4e99d10.

[Reporting paper](<https://www.sota2.com/research/paper/69365b6cd6b0dd3342934b0a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69365b6cd6b0dd3342934b0a.md>)

Recorded evaluation configuration: {"GPF":true}. This record does not assert independent reproduction.

### MonoCon

AP: 1.61. Result ID: 6998882c5698665ec4e99d0e.

[Reporting paper](<https://www.sota2.com/research/paper/69365b6cd6b0dd3342934b0a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6b601e209131cea2dd9d.md>)

[Implementation](<https://git.io/MonoCon>)

Recorded evaluation configuration: {"GPF":true}. This record does not assert independent reproduction.

### Kinematic3D

AP: 1.27. Result ID: 6998882c5698665ec4e99d09.

[Reporting paper](<https://www.sota2.com/research/paper/69365b6cd6b0dd3342934b0a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa67f21e209131cea194d9.md>)

[Implementation](<http://cvlab.cse.msu.edu/project-kinematic.html>)

Recorded evaluation configuration: {"GPF":true}. This record does not assert independent reproduction.

### BEVHeight

AP: 1.16. Result ID: 6998882c5698665ec4e99d06.

[Reporting paper](<https://www.sota2.com/research/paper/69365b6cd6b0dd3342934b0a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6f031e209131cea43362.md>)

[Implementation](<https://github.com/ADLab-AutoDrive/BEVHeight>)

Recorded evaluation configuration: {"GPF":false}. This record does not assert independent reproduction.

### MonoFlex

AP: 0.97. Result ID: 6998882c5698665ec4e99d0b.

[Reporting paper](<https://www.sota2.com/research/paper/69365b6cd6b0dd3342934b0a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69ad1e209131cea234cb.md>)

[Implementation](<https://github.com/zhangyp15/MonoFlex>)

Recorded evaluation configuration: {"GPF":true}. This record does not assert independent reproduction.

### BEVFormer

AP: 0.84. Result ID: 6998882c5698665ec4e99d0c.

[Reporting paper](<https://www.sota2.com/research/paper/69365b6cd6b0dd3342934b0a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d011e209131cea373ae.md>)

[Implementation](<https://github.com/zhiqi-li/BEVFormer>)

Recorded evaluation configuration: {"GPF":true}. This record does not assert independent reproduction.

### BEVDepth

AP: 0.3. Result ID: 6998882c5698665ec4e99d0d.

[Reporting paper](<https://www.sota2.com/research/paper/69365b6cd6b0dd3342934b0a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6e1b1e209131cea3dd0f.md>)

[Implementation](<https://github.com/Megvii-BaseDetection/BEVDepth>)

Recorded evaluation configuration: {"GPF":true}. This record does not assert independent reproduction.

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