# 3D Object Detection on SI3D-DI Easy (test) Source: [3D Object Detection on SI3D-DI Easy (test)]() Collection index: [llms.txt]() Data updated: 2026-06-09T10:24:18.124Z Evaluation of 3D Object Detection performance on the test split of the SI3D-DI Easy dataset, reporting category-specific AP metrics (APBEV, AP3D) and overall mean AP metrics (mAPBEV, mAP3D). 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) | SI3D-DI Easy (test) | | Metric | Vehicle APBEV | | Unit | PERCENT | | Direction | Higher is better | | Results loaded | 12 of 12 | | 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 - [Vehicle APBEV](): Higher is better; unit: PERCENT. - [Vehicle AP3D](): Higher is better; unit: PERCENT. - [Articulated Target APBEV](): Higher is better; unit: PERCENT. - [Articulated Target AP3D](): Higher is better; unit: PERCENT. - [Camera Target APBEV](): Higher is better; unit: PERCENT. - [Camera Target AP3D](): Higher is better; unit: PERCENT. - [Canopy APBEV](): Higher is better; unit: PERCENT. - [Canopy AP3D](): Higher is better; unit: PERCENT. - [mAPBEV](): Higher is better; unit: PERCENT. - [mAP3D](): Higher is better; unit: PERCENT. ## Recorded results | Method | Vehicle APBEV | Result date | Report paper | | --- | --- | --- | --- | | CAMF-Det | 74.73 | Not recorded | 6a279e5490966ade919bf9b9 | | TG-ADet | 74.63 | Not recorded | 6a279e5490966ade919bf9b9 | | VoxelNext | 74.49 | Not recorded | 6a279e5490966ade919bf9b9 | | SAFDNet | 70.57 | Not recorded | 6a279e5490966ade919bf9b9 | | IS-Fusion | 66.33 | Not recorded | 6a279e5490966ade919bf9b9 | | SSLFusion | 66.31 | Not recorded | 6a279e5490966ade919bf9b9 | | Voxelmamba | 65.89 | Not recorded | 6a279e5490966ade919bf9b9 | | HEDNet | 62.77 | Not recorded | 6a279e5490966ade919bf9b9 | | AutoAlignv2 | 60.79 | Not recorded | 6a279e5490966ade919bf9b9 | | TransFusion-L | 60.43 | Not recorded | 6a279e5490966ade919bf9b9 | | BEVFusion | 60.43 | Not recorded | 6a279e5490966ade919bf9b9 | | BEVDilation | 37.29 | Not recorded | 6a279e5490966ade919bf9b9 | ### CAMF-Det Vehicle APBEV: 74.73. Result ID: 6a27e9cefbc373592c2555f2. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modal":"L+C","Reference":"Ours"}. This record does not assert independent reproduction. ### TG-ADet Vehicle APBEV: 74.63. Result ID: 6a27e9cefbc373592c2555ec. [Reporting paper]() Recorded evaluation configuration: {"Modal":"L","Reference":"TGRS 2025"}. This record does not assert independent reproduction. ### VoxelNext Vehicle APBEV: 74.49. Result ID: 6a27e9cefbc373592c2555e9. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Modal":"L","Reference":"CVPR 2023"}. This record does not assert independent reproduction. ### SAFDNet Vehicle APBEV: 70.57. Result ID: 6a27e9cefbc373592c2555eb. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modal":"L","Reference":"CVPR 2024"}. This record does not assert independent reproduction. ### IS-Fusion Vehicle APBEV: 66.33. Result ID: 6a27e9cefbc373592c2555ef. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Modal":"L+C","Reference":"CVPR 2024"}. This record does not assert independent reproduction. ### SSLFusion Vehicle APBEV: 66.31. Result ID: 6a27e9cefbc373592c2555f0. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modal":"L+C","Reference":"AAAI 2025"}. This record does not assert independent reproduction. ### Voxelmamba Vehicle APBEV: 65.89. Result ID: 6a27e9cefbc373592c2555ea. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modal":"L","Reference":"NeurIPS 2024"}. This record does not assert independent reproduction. ### HEDNet Vehicle APBEV: 62.77. Result ID: 6a27e9cefbc373592c2555e8. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Modal":"L","Reference":"NeurIPS 2023"}. This record does not assert independent reproduction. ### AutoAlignv2 Vehicle APBEV: 60.79. Result ID: 6a27e9cefbc373592c2555ed. [Reporting paper]() Recorded evaluation configuration: {"Modal":"L+C","Reference":"ECCV 2022"}. This record does not assert independent reproduction. ### TransFusion-L Vehicle APBEV: 60.43. Result ID: 6a27e9cefbc373592c2555e7. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modal":"L","Reference":"CVPR 2022"}. This record does not assert independent reproduction. ### BEVFusion Vehicle APBEV: 60.43. Result ID: 6a27e9cefbc373592c2555ee. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Modal":"L+C","Reference":"ICRA 2023"}. This record does not assert independent reproduction. ### BEVDilation Vehicle APBEV: 37.29. Result ID: 6a27e9cefbc373592c2555f1. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modal":"L+C","Reference":"AAAI 2026"}. 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