3D Object Detection on Rope3D (val)
74.6AP (IoU=0.5, Car)BEVHeight
Evaluation results
| Method | Links | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| BEVHeightGround Plane Adaptation=false2023.10 | 74.6 | — | — | 78.72 | 48.93 | 57.7 | 45.73 | 55.62 | 23.07 | 37.04 | |
| CoBEVGround Plane Adaptation=false2023.10 | 73.39 | — | — | 77.11 | 52.77 | 60.28 | 52.72 | 60.57 | 29.28 | 41.52 | |
| BEVDepthGround Plane Adaptation=false2023.10 | 69.63 | — | — | 74.7 | 45.02 | 54.64 | 42.56 | 53.05 | 21.47 | 35.82 | |
| M3D-RPNGround Plane Adaptation=true2023.10 | 54.19 | — | — | 62.65 | 33.05 | 44.94 | 16.75 | 32.9 | 6.86 | 24.19 | |
| MonoDLEGround Plane Adaptation=true2023.10 | 51.7 | — | — | 60.36 | 40.34 | 50.07 | 13.58 | 29.46 | 9.63 | 25.8 | |
| BEVFormerGround Plane Adaptation=false2023.10 | 50.62 | — | — | 58.78 | 34.58 | 45.16 | 24.64 | 38.71 | 10.05 | 25.56 | |
| Kinematic3DGround Plane Adaptation=true2023.10 | 50.57 | — | — | 58.86 | 37.6 | 48.08 | 17.74 | 32.9 | 6.1 | 22.88 | |
| LeAD-M3D XExtra=None2025.12 | 49.5 | — | — | 58.72 | 37.74 | 49.31 | 16.45 | 31.34 | 8.71 | 25.15 | |
| GroundMixExtra=None2025.12 | 47.72 | — | — | 57.26 | 32.12 | 43.64 | 12.86 | 29.37 | 3.9 | 21.06 | |
| LeAD-M3D BExtra=None2025.12 | 46.3 | — | — | 56.14 | 34.75 | 46.9 | 15.05 | 30.13 | 5.4 | 22.41 | |
| LeAD-M3D MExtra=None2025.12 | 45.92 | — | — | 55.84 | 34.69 | 46.85 | 14.31 | 29.62 | 4.95 | 22.14 | |
| YOLOv10-M3D XExtra=None2025.12 | 44.06 | — | — | 54.38 | 31.31 | 44.18 | 13.87 | 29.33 | 4.12 | 21.54 | |
| LeAD-M3D SExtra=None2025.12 | 43.52 | — | — | 53.89 | 26.78 | 40.5 | 13.33 | 28.59 | 4.16 | 21.25 | |
| YOLOv10-M3D MExtra=None2025.12 | 43.23 | — | — | 53.68 | 30.65 | 43.62 | 11.88 | 27.53 | 3.88 | 21.12 | |
| YOLOv10-M3D BExtra=None2025.12 | 42.67 | — | — | 53.25 | 32.45 | 45.07 | 12.55 | 28.15 | 4.65 | 21.83 | |
| MonoConExtra=None2025.12 | 38.07 | — | — | 49.44 | 18.66 | 32.89 | 10.71 | 27.55 | 1.61 | 19.25 | |
| LeAD-M3D NExtra=None2025.12 | 38 | — | — | 49.39 | 17.88 | 33.29 | 9.67 | 25.46 | 1.8 | 19.17 | |
| MonoFlexExtra=Ground plane2025.12 | 37.27 | — | — | 48.58 | 47.52 | 55.86 | 11.24 | 27.79 | 13.1 | 28.22 | |
| M3D-RPNExtra=Ground plane2025.12 | 36.33 | — | — | 48.16 | 24.39 | 37.81 | 11.09 | 28.17 | 3.39 | 21.01 | |
| YOLOv10-M3D SExtra=None2025.12 | 34.78 | — | — | 46.87 | 21.62 | 36.34 | 9.01 | 25.19 | 2.12 | 19.67 | |
| MonoFlexExtra=None2025.12 | 32.01 | — | — | 44.37 | 13.86 | 28.47 | 10.86 | 27.39 | 0.97 | 18.18 | |
| MonoDLEExtra=Ground plane2025.12 | 31.33 | — | — | 43.68 | 23.81 | 36.21 | 12.16 | 28.39 | 3.02 | 19.96 | |
| CoBEVExtra=Ground plane, Geometry2025.12 | 31.25 | — | — | 43.74 | 16.11 | 30.73 | 6.59 | 24.01 | 2.26 | 19.71 | |
| BEVHeightExtra=Ground plane2025.12 | 29.65 | — | — | 42.48 | 13.13 | 28.08 | 5.41 | 23.09 | 1.16 | 18.53 | |
| YOLOv10-M3D NExtra=None2025.12 | 27.67 | — | — | 41.05 | 14.12 | 30.21 | 8.57 | 24.72 | 0.92 | 18.6 | |
| BEVFormerExtra=None2025.12 | 25.98 | — | — | 39.51 | 8.81 | 24.67 | 3.87 | 21.84 | 0.84 | 18.42 | |
| MOSEExtra=Ground plane, Geometry2025.12 | 25.62 | — | — | — | 11.04 | — | — | — | — | — | |
| Kinematic3DExtra=None2025.12 | 23.56 | — | — | 37.05 | 13.85 | 28.58 | 5.82 | 23.06 | 1.27 | 18.92 | |
| M3D-RPNExtra=None2025.12 | 21.74 | — | — | 36.4 | 21.49 | 35.49 | 6.05 | 23.84 | 2.78 | 20.82 | |
| MonoDLEExtra=None2025.12 | 19.08 | — | — | 33.72 | 19.76 | 33.07 | 3.77 | 21.42 | 2.31 | 19.55 | |
| BEVDepthExtra=None2025.12 | 9 | — | — | 25.8 | 3.59 | 20.39 | 0.85 | 19.38 | 0.3 | 17.84 | |
| BEVDepthIoU threshold=0.5, Vehicle Category=Car2023.03 | — | 69.63 | 74.7 | — | — | — | — | — | — | — | |
| BEVDepthIoU threshold=0.5, Vehicle Category=Big Vehicle2023.03 | — | 45.02 | 54.64 | — | — | — | — | — | — | — | |
| BEVDepthIoU threshold=0.7, Vehicle Category=Car2023.03 | — | 42.56 | 53.05 | — | — | — | — | — | — | — | |
| BEVDepthIoU threshold=0.7, Vehicle Category=Big Vehicle2023.03 | — | 21.47 | 35.82 | — | — | — | — | — | — | — | |
| BEVFormerIoU threshold=0.5, Vehicle Category=Car2023.03 | — | 50.62 | 58.78 | — | — | — | — | — | — | — | |
| BEVFormerIoU threshold=0.5, Vehicle Category=Big Vehicle2023.03 | — | 34.58 | 45.16 | — | — | — | — | — | — | — | |
| BEVFormerIoU threshold=0.7, Vehicle Category=Car2023.03 | — | 24.64 | 38.71 | — | — | — | — | — | — | — | |
| BEVFormerIoU threshold=0.7, Vehicle Category=Big Vehicle2023.03 | — | 10.05 | 25.56 | — | — | — | — | — | — | — | |
| BEVHeightIoU threshold=0.5, Vehicle Category=Car2023.03 | — | 74.6 | 78.72 | — | — | — | — | — | — | — | |
| BEVHeightIoU threshold=0.5, Vehicle Category=Big Vehicle2023.03 | — | 48.93 | 57.7 | — | — | — | — | — | — | — | |
| BEVHeightIoU threshold=0.7, Vehicle Category=Car2023.03 | — | 45.73 | 55.62 | — | — | — | — | — | — | — | |
| BEVHeightIoU threshold=0.7, Vehicle Category=Big Vehicle2023.03 | — | 23.07 | 37.04 | — | — | — | — | — | — | — | |
| Kinematic3DIoU threshold=0.5, Vehicle Category=Car2023.03 | — | 50.57 | 58.86 | — | — | — | — | — | — | — | |
| Kinematic3DIoU threshold=0.5, Vehicle Category=Big Vehicle2023.03 | — | 37.6 | 48.08 | — | — | — | — | — | — | — | |
| Kinematic3DIoU threshold=0.7, Vehicle Category=Car2023.03 | — | 17.74 | 32.9 | — | — | — | — | — | — | — | |
| Kinematic3DIoU threshold=0.7, Vehicle Category=Big Vehicle2023.03 | — | 6.1 | 22.88 | — | — | — | — | — | — | — | |
| M3D-RPNIoU threshold=0.5, Vehicle Category=Car2023.03 | — | 54.19 | 62.65 | — | — | — | — | — | — | — | |
| M3D-RPNIoU threshold=0.5, Vehicle Category=Big Vehicle2023.03 | — | 33.05 | 44.94 | — | — | — | — | — | — | — | |
| M3D-RPNIoU threshold=0.7, Vehicle Category=Car2023.03 | — | 16.75 | 32.9 | — | — | — | — | — | — | — | |
| M3D-RPNIoU threshold=0.7, Vehicle Category=Big Vehicle2023.03 | — | 6.86 | 24.19 | — | — | — | — | — | — | — | |
| MonoDLEIoU threshold=0.5, Vehicle Category=Car2023.03 | — | 51.7 | 60.36 | — | — | — | — | — | — | — | |
| MonoDLEIoU threshold=0.5, Vehicle Category=Big Vehicle2023.03 | — | 40.34 | 50.07 | — | — | — | — | — | — | — | |
| MonoDLEIoU threshold=0.7, Vehicle Category=Car2023.03 | — | 13.58 | 29.46 | — | — | — | — | — | — | — | |
| MonoDLEIoU threshold=0.7, Vehicle Category=Big Vehicle2023.03 | — | 9.63 | 25.8 | — | — | — | — | — | — | — | |
| MonoFlexIoU threshold=0.5, Vehicle Category=Car2023.03 | — | 60.33 | 66.86 | — | — | — | — | — | — | — | |
| MonoFlexIoU threshold=0.5, Vehicle Category=Big Vehicle2023.03 | — | 37.33 | 47.96 | — | — | — | — | — | — | — | |
| MonoFlexIoU threshold=0.7, Vehicle Category=Car2023.03 | — | 33.78 | 46.12 | — | — | — | — | — | — | — | |
| MonoFlexIoU threshold=0.7, Vehicle Category=Big Vehicle2023.03 | — | 10.08 | 26.16 | — | — | — | — | — | — | — |