# 3D Object Detection on RZDG (Sim)

Source: [3D Object Detection on RZDG (Sim)](<https://www.sota2.com/research/sota/3d-object-detection-on-rzdg-sim>)

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

Data updated: 2026-07-07T10:18:34.799Z

Evaluation of 3D Object Detection performance on the RZDG (Sim) dataset, reporting AP3D and APBEV metrics 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) | RZDG (Sim) |
| Metric | AP3D (Easy) |
| Unit | SCALAR |
| Direction | Higher is better |
| Results loaded | 6 of 6 |
| 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

- [AP3D (Easy)](<https://www.sota2.com/research/sota/3d-object-detection-on-rzdg-sim.md?metric=AP3D%20(Easy)>): Higher is better; unit: SCALAR.

- [AP3D (Moderate)](<https://www.sota2.com/research/sota/3d-object-detection-on-rzdg-sim.md?metric=AP3D%20(Moderate)>): Higher is better; unit: SCALAR.

- [AP3D (Hard)](<https://www.sota2.com/research/sota/3d-object-detection-on-rzdg-sim.md?metric=AP3D%20(Hard)>): Higher is better; unit: SCALAR.

- [APBEV (Easy)](<https://www.sota2.com/research/sota/3d-object-detection-on-rzdg-sim.md?metric=APBEV%20(Easy)>): Higher is better; unit: SCALAR.

- [APBEV (Moderate)](<https://www.sota2.com/research/sota/3d-object-detection-on-rzdg-sim.md?metric=APBEV%20(Moderate)>): Higher is better; unit: SCALAR.

- [APBEV (Hard)](<https://www.sota2.com/research/sota/3d-object-detection-on-rzdg-sim.md?metric=APBEV%20(Hard)>): Higher is better; unit: SCALAR.

## Recorded results

| Method | AP3D (Easy) | Result date | Report paper |
| --- | --- | --- | --- |
| MVXNet | 97.3106 | Not recorded | 6a4c882e85dba69fef8b2b5f |
| PointPillars | 93.4512 | Not recorded | 6a4c882e85dba69fef8b2b5f |
| PointPillars | 74.4662 | Not recorded | 6a4c882e85dba69fef8b2b5f |
| MVXNet | 74.1536 | Not recorded | 6a4c882e85dba69fef8b2b5f |
| SMOKE | 0.5282 | Not recorded | 6a4c882e85dba69fef8b2b5f |
| SMOKE | 0.502 | Not recorded | 6a4c882e85dba69fef8b2b5f |

### MVXNet

AP3D (Easy): 97.3106. Result ID: 6a4cd26660b88bb339ca6b0c.

[Reporting paper](<https://www.sota2.com/research/paper/6a4c882e85dba69fef8b2b5f.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa658f1e209131cea0b2fd.md>)

Recorded evaluation configuration: {"Modality":"C, L","Class":"Road beacon"}. This record does not assert independent reproduction.

### PointPillars

AP3D (Easy): 93.4512. Result ID: 6a4cd26660b88bb339ca6b0b.

[Reporting paper](<https://www.sota2.com/research/paper/6a4c882e85dba69fef8b2b5f.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65c01e209131cea0c2bc.md>)

[Implementation](<https://github.com/nutonomy/second.pytorch>)

Recorded evaluation configuration: {"Modality":"L","Class":"Road beacon"}. This record does not assert independent reproduction.

### PointPillars

AP3D (Easy): 74.4662. Result ID: 6a4cd26660b88bb339ca6b0e.

[Reporting paper](<https://www.sota2.com/research/paper/6a4c882e85dba69fef8b2b5f.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65c01e209131cea0c2bc.md>)

[Implementation](<https://github.com/nutonomy/second.pytorch>)

Recorded evaluation configuration: {"Modality":"L","Class":"Barrier"}. This record does not assert independent reproduction.

### MVXNet

AP3D (Easy): 74.1536. Result ID: 6a4cd26660b88bb339ca6b0f.

[Reporting paper](<https://www.sota2.com/research/paper/6a4c882e85dba69fef8b2b5f.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa658f1e209131cea0b2fd.md>)

Recorded evaluation configuration: {"Modality":"C, L","Class":"Barrier"}. This record does not assert independent reproduction.

### SMOKE

AP3D (Easy): 0.5282. Result ID: 6a4cd26660b88bb339ca6b0d.

[Reporting paper](<https://www.sota2.com/research/paper/6a4c882e85dba69fef8b2b5f.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa67181e209131cea1418c.md>)

Recorded evaluation configuration: {"Modality":"C","Class":"Barrier"}. This record does not assert independent reproduction.

### SMOKE

AP3D (Easy): 0.502. Result ID: 6a4cd26660b88bb339ca6b0a.

[Reporting paper](<https://www.sota2.com/research/paper/6a4c882e85dba69fef8b2b5f.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa67181e209131cea1418c.md>)

Recorded evaluation configuration: {"Modality":"C","Class":"Road beacon"}. This record does not assert independent reproduction.

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