ResearchBenchmarks3D Object Detection on Supremind-Road homologous (val)3D Object Detection on Supremind-Road homologous (val)Follow78.12AP Vehicle (Easy)CoBEV68.81271.228573.64576.0615Oct 4, 2023Evaluation resultsMethodMethodLinksAP Vehicle (Easy)AP Vehicle (Hard)AP Pedestrian (Easy)AP Pedestrian (Hard)AP Cyclist (Easy)AP Cyclist (Hard)AP Tricycle (Easy)AP Tricycle (Hard)CoBEVLifting=HybridLifting=Hybrid2023.1078.1267.7123.4121.6552.9845.247.8748.18BEVHeightLifting=ExplicitLifting=Explicit2023.1076.6566.1720.9620.5950.0144.243.6843.03BEVDepthLifting=ExplicitLifting=Explicit2023.1073.7463.2114.7114.2524.7319.5216.8918.58BEVFormerLifting=ImplicitLifting=Implicit2023.1069.1758.7811.3211.3525.4420.1420.7419.6