# 3D Object Detection on SUN RGB-D (NHD, IoU3D)

Source: [3D Object Detection on SUN RGB-D (NHD, IoU3D)](<https://www.sota2.com/research/sota/3d-object-detection-on-sun-rgb-d-nhd-iou3d>)

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

Data updated: 2026-03-23T11:14:19.132Z

Evaluation of 3D object detection performance on the SUN RGB-D dataset, reporting metrics focused on Normalized Hausdorff Distance (NHD) and 3D Intersection over Union (IoU3D).

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) | SUN RGB-D |
| Metric | IoU3D |
| Unit | PERCENT |
| 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

- [IoU3D](<https://www.sota2.com/research/sota/3d-object-detection-on-sun-rgb-d-nhd-iou3d.md?metric=IoU3D>): Higher is better; unit: PERCENT.

- [NHD](<https://www.sota2.com/research/sota/3d-object-detection-on-sun-rgb-d-nhd-iou3d.md?metric=NHD>): Lower is better; unit: SCALAR.

## Recorded results

| Method | IoU3D | Result date | Report paper |
| --- | --- | --- | --- |
| DetAny3D | 32.72 | Not recorded | 69c0c90d0636e5bf4afc3c4b |
| Cube R-CNN | 29.08 | Not recorded | 69c0c90d0636e5bf4afc3c4b |
| MoCA3D | 27.53 | Not recorded | 69c0c90d0636e5bf4afc3c4b |
| MoCA3D-Cube | 24.55 | Not recorded | 69c0c90d0636e5bf4afc3c4b |
| OVMono3D-LIFT\* | 24.19 | Not recorded | 69c0c90d0636e5bf4afc3c4b |
| Cube R-CNN\* | 22.6 | Not recorded | 69c0c90d0636e5bf4afc3c4b |

### DetAny3D

IoU3D: 32.72. Result ID: 69c11f3647f34ce924a9782a.

[Reporting paper](<https://www.sota2.com/research/paper/69c0c90d0636e5bf4afc3c4b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa793e1e209131cea7cd17.md>)

Recorded evaluation configuration: {"2D bounding boxes":"oracle","camera intrinsics":"ground truth"}. This record does not assert independent reproduction.

### Cube R-CNN

IoU3D: 29.08. Result ID: 69c11f3647f34ce924a97827.

[Reporting paper](<https://www.sota2.com/research/paper/69c0c90d0636e5bf4afc3c4b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ee21e209131cea42a09.md>)

[Implementation](<https://github.com/facebookresearch/omni3d>)

Recorded evaluation configuration: {"2D bounding boxes":"oracle","camera intrinsics":"ground truth"}. This record does not assert independent reproduction.

### MoCA3D

IoU3D: 27.53. Result ID: 69c11f3647f34ce924a9782b.

[Reporting paper](<https://www.sota2.com/research/paper/69c0c90d0636e5bf4afc3c4b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69c0c90d0636e5bf4afc3c4b.md>)

Recorded evaluation configuration: {"2D bounding boxes":"oracle","camera intrinsics":"ground truth"}. This record does not assert independent reproduction.

### MoCA3D-Cube

IoU3D: 24.55. Result ID: 69c11f3647f34ce924a9782c.

[Reporting paper](<https://www.sota2.com/research/paper/69c0c90d0636e5bf4afc3c4b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69c0c90d0636e5bf4afc3c4b.md>)

Recorded evaluation configuration: {"2D bounding boxes":"oracle","camera intrinsics":"ground truth"}. This record does not assert independent reproduction.

### OVMono3D-LIFT\*

IoU3D: 24.19. Result ID: 69c11f3647f34ce924a97829.

[Reporting paper](<https://www.sota2.com/research/paper/69c0c90d0636e5bf4afc3c4b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa75e31e209131cea6a768.md>)

Recorded evaluation configuration: {"2D bounding boxes":"oracle","camera intrinsics":"ground truth"}. This record does not assert independent reproduction.

### Cube R-CNN\*

IoU3D: 22.6. Result ID: 69c11f3647f34ce924a97828.

[Reporting paper](<https://www.sota2.com/research/paper/69c0c90d0636e5bf4afc3c4b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ee21e209131cea42a09.md>)

[Implementation](<https://github.com/facebookresearch/omni3d>)

Recorded evaluation configuration: {"2D bounding boxes":"oracle","camera intrinsics":"ground truth"}. This record does not assert independent reproduction.

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