# BEV Object Detection on KITTI Foggy

Source: [BEV Object Detection on KITTI Foggy](<https://www.sota2.com/research/sota/bev-object-detection-on-kitti-foggy>)

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

Data updated: 2026-04-03T07:57:24.858Z

Evaluation of Bird's Eye View (BEV) Object Detection performance on the KITTI Foggy dataset, reporting Average Precision (APBEV) 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 | BEV Object Detection |
| Dataset (including any stated split) | KITTI Foggy |
| Metric | APBEV (Easy) |
| 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

- [APBEV (Easy)](<https://www.sota2.com/research/sota/bev-object-detection-on-kitti-foggy.md?metric=APBEV%20(Easy)>): Higher is better; unit: PERCENT.

- [APBEV (Moderate)](<https://www.sota2.com/research/sota/bev-object-detection-on-kitti-foggy.md?metric=APBEV%20(Moderate)>): Higher is better; unit: PERCENT.

- [APBEV (Hard)](<https://www.sota2.com/research/sota/bev-object-detection-on-kitti-foggy.md?metric=APBEV%20(Hard)>): Higher is better; unit: PERCENT.

## Recorded results

| Method | APBEV (Easy) | Result date | Report paper |
| --- | --- | --- | --- |
| MonoSAOD | 28.28 | Not recorded | 69cf497c0636e5bf4afcd9ca |
| Calibrated Teacher | 18.99 | Not recorded | 69cf497c0636e5bf4afcd9ca |
| SparseDet | 17.64 | Not recorded | 69cf497c0636e5bf4afcd9ca |
| Co-student | 17.58 | Not recorded | 69cf497c0636e5bf4afcd9ca |
| Co-mining | 17.04 | Not recorded | 69cf497c0636e5bf4afcd9ca |
| Baseline | 16.78 | Not recorded | 69cf497c0636e5bf4afcd9ca |

### MonoSAOD

APBEV (Easy): 28.28. Result ID: 69cf72cd47f34ce924b91bf7.

[Reporting paper](<https://www.sota2.com/research/paper/69cf497c0636e5bf4afcd9ca.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69cf497c0636e5bf4afcd9ca.md>)

Recorded evaluation configuration: {"Annotation Ratio":"30%"}. This record does not assert independent reproduction.

### Calibrated Teacher

APBEV (Easy): 18.99. Result ID: 69cf72cd47f34ce924b91bf5.

[Reporting paper](<https://www.sota2.com/research/paper/69cf497c0636e5bf4afcd9ca.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ecb1e209131cea42318.md>)

Recorded evaluation configuration: {"Annotation Ratio":"30%"}. This record does not assert independent reproduction.

### SparseDet

APBEV (Easy): 17.64. Result ID: 69cf72cd47f34ce924b91bf4.

[Reporting paper](<https://www.sota2.com/research/paper/69cf497c0636e5bf4afcd9ca.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70771e209131cea4b443.md>)

Recorded evaluation configuration: {"Annotation Ratio":"30%"}. This record does not assert independent reproduction.

### Co-student

APBEV (Easy): 17.58. Result ID: 69cf72cd47f34ce924b91bf6.

[Reporting paper](<https://www.sota2.com/research/paper/69cf497c0636e5bf4afcd9ca.md>)

Recorded evaluation configuration: {"Annotation Ratio":"30%"}. This record does not assert independent reproduction.

### Co-mining

APBEV (Easy): 17.04. Result ID: 69cf72cd47f34ce924b91bf3.

[Reporting paper](<https://www.sota2.com/research/paper/69cf497c0636e5bf4afcd9ca.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6b131e209131cea2bfb1.md>)

Recorded evaluation configuration: {"Annotation Ratio":"30%"}. This record does not assert independent reproduction.

### Baseline

APBEV (Easy): 16.78. Result ID: 69cf72cd47f34ce924b91bf2.

[Reporting paper](<https://www.sota2.com/research/paper/69cf497c0636e5bf4afcd9ca.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa76f41e209131cea70369.md>)

[Implementation](<https://github.com/ZrrSkywalker/MonoDETR>)

Recorded evaluation configuration: {"Annotation Ratio":"30%"}. This record does not assert independent reproduction.

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