# 3D object segmentation on KITTI-Det (val)

Source: [3D object segmentation on KITTI-Det (val)](<https://www.sota2.com/research/sota/3d-object-segmentation-on-kitti-det-val>)

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

Data updated: 2026-02-26T05:22:44.932Z

Evaluation of 3D object segmentation performance on the KITTI-Det validation split, utilizing metrics such as AP, PQ, F1, and mIoU.

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 segmentation |
| Dataset (including any stated split) | KITTI-Det (val) |
| Metric | AP |
| 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

- [AP](<https://www.sota2.com/research/sota/3d-object-segmentation-on-kitti-det-val.md?metric=AP>): Higher is better; unit: PERCENT.

- [PQ](<https://www.sota2.com/research/sota/3d-object-segmentation-on-kitti-det-val.md?metric=PQ>): Higher is better; unit: PERCENT.

- [F1 Score](<https://www.sota2.com/research/sota/3d-object-segmentation-on-kitti-det-val.md?metric=F1%20Score>): Higher is better; unit: PERCENT.

- [Precision](<https://www.sota2.com/research/sota/3d-object-segmentation-on-kitti-det-val.md?metric=Precision>): Higher is better; unit: PERCENT.

- [Recall](<https://www.sota2.com/research/sota/3d-object-segmentation-on-kitti-det-val.md?metric=Recall>): Higher is better; unit: PERCENT.

- [mIoU](<https://www.sota2.com/research/sota/3d-object-segmentation-on-kitti-det-val.md?metric=mIoU>): Higher is better; unit: PERCENT.

- [RI](<https://www.sota2.com/research/sota/3d-object-segmentation-on-kitti-det-val.md?metric=RI>): Higher is better; unit: PERCENT.

## Recorded results

| Method | AP | Result date | Report paper |
| --- | --- | --- | --- |
| Voxel-RCNN | 95.8 | Not recorded | 68fa6da41e209131cea3b194 |
| PointRCNN | 95.7 | Not recorded | 68fa6da41e209131cea3b194 |
| PV-RCNN | 95.4 | Not recorded | 68fa6da41e209131cea3b194 |
| OGCsup | 80 | Not recorded | 68fa6da41e209131cea3b194 |
| OGC\*sup | 51.4 | Not recorded | 68fa6da41e209131cea3b194 |
| OGC\*(Ours) | 40.5 | Not recorded | 68fa6da41e209131cea3b194 |

### Voxel-RCNN

AP: 95.8. Result ID: 698fb3603a6c314849fb39d1.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6da41e209131cea3b194.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa693b1e209131cea21032.md>)

[Implementation](<https://github.com/djiajunustc/Voxel-R-CNN>)

Recorded evaluation configuration: {"Supervision":"Supervised","Training dataset":"KITTI-Det"}. This record does not assert independent reproduction.

### PointRCNN

AP: 95.7. Result ID: 698fb3603a6c314849fb39cf.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6da41e209131cea3b194.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65bd1e209131cea0c115.md>)

[Implementation](<https://github.com/sshaoshuai/PointRCNN>)

Recorded evaluation configuration: {"Supervision":"Supervised","Training dataset":"KITTI-Det"}. This record does not assert independent reproduction.

### PV-RCNN

AP: 95.4. Result ID: 698fb3603a6c314849fb39d0.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6da41e209131cea3b194.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69b11e209131cea23700.md>)

[Implementation](<https://github.com/open-mmlab/OpenPCDet>)

Recorded evaluation configuration: {"Supervision":"Supervised","Training dataset":"KITTI-Det"}. This record does not assert independent reproduction.

### OGCsup

AP: 80. Result ID: 698fb3603a6c314849fb39d2.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6da41e209131cea3b194.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6da41e209131cea3b194.md>)

[Implementation](<https://github.com/vLAR-group/OGC>)

Recorded evaluation configuration: {"Supervision":"Supervised","Training dataset":"KITTI-Det"}. This record does not assert independent reproduction.

### OGC\*sup

AP: 51.4. Result ID: 698fb3603a6c314849fb39d3.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6da41e209131cea3b194.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6da41e209131cea3b194.md>)

[Implementation](<https://github.com/vLAR-group/OGC>)

Recorded evaluation configuration: {"Supervision":"Supervised","Training dataset":"KITTI-SF"}. This record does not assert independent reproduction.

### OGC\*(Ours)

AP: 40.5. Result ID: 698fb3603a6c314849fb39d4.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6da41e209131cea3b194.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6da41e209131cea3b194.md>)

[Implementation](<https://github.com/vLAR-group/OGC>)

Recorded evaluation configuration: {"Supervision":"Unsupervised","Training dataset":"KITTI-SF"}. This record does not assert independent reproduction.

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