BEV Object Detection on KITTI (test)
95.68AP (Easy)SE-SSD
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| SE-SSDModality=LiDAR2022.03 | 95.68 | 91.84 | 86.72 | 91.41 | |
| SFDModality=LiDAR+RGB2022.03 | 95.64 | 91.85 | 86.83 | 91.44 | |
| SA-SSDModality=LiDAR2022.03 | 95.03 | 91.03 | 85.96 | 90.67 | |
| Voxel-RCNNModality=LiDAR2022.03 | 94.85 | 88.83 | 86.13 | 89.94 | |
| EPNetModality=LiDAR+RGB2022.03 | 94.22 | 88.47 | 83.69 | 88.79 | |
| 3D-CVFModality=LiDAR+RGB2022.03 | 93.52 | 89.56 | 82.45 | 88.51 | |
| CLOCS PVCasModality=LiDAR+RGB2022.03 | 93.05 | 89.8 | 86.57 | 89.81 | |
| R-GCN onlyModality=L, Time (ms)=2392019.11 | 91.91 | 86.05 | 81.05 | — | |
| PointRGCNModality=L, Time (ms)=2622019.11 | 91.63 | 87.49 | 80.73 | — | |
| Patch RefinementModality=LiDAR2019.10 | 89.78 | 86.55 | 79.22 | — | |
| STDModality=L, Time (ms)=802019.11 | 89.66 | 87.76 | 86.89 | — | |
| MMFModality=RGB + LiDAR, custom train-val split=true2019.10 | 89.49 | 87.47 | 79.1 | — | |
| UberATG-MMFModality=L+I, Time (ms)=802019.11 | 89.49 | 87.47 | 79.1 | — | |
| MMFLiDAR=true, IMG=true, Time (ms)=802020.12 | 89.49 | 87.47 | 79.1 | — | |
| PointRCNNModality=LiDAR2019.10 | 89.47 | 85.68 | 79.1 | — | |
| PointRCNNModality=L, Time (ms)=1002019.11 | 89.47 | 85.68 | 79.1 | — | |
| PIXOR++LiDAR=true, IMG=false, Time (ms)=352020.12 | 89.38 | 83.7 | 77.97 | — | |
| VoxelnetModality=LiDAR2019.10 | 89.35 | 79.26 | 77.39 | — | |
| VoxelNetModality=L, Time (ms)=2202019.11 | 89.35 | 79.26 | 77.39 | — | |
| VoxelNetLiDAR=true, IMG=false, Time (ms)=2202020.12 | 89.35 | 79.26 | 77.39 | — | |
| HDNETLiDAR=true, IMG=false, Time (ms)=502020.12 | 89.14 | 86.57 | 78.32 | — | |
| ContFuseLiDAR=true, IMG=true, Time (ms)=602020.12 | 88.81 | 85.83 | 77.33 | — | |
| F-PointNetModality=RGB + LiDAR, custom train-val split=true2019.10 | 88.7 | 84 | 75.33 | — | |
| F-PointNetModality=L+I, Time (ms)=1702019.11 | 88.7 | 84 | 75.33 | — | |
| F-PointNetLiDAR=true, IMG=true, Time (ms)=1702020.12 | 88.7 | 84 | 75.33 | — | |
| AVOD-FPNModality=RGB + LiDAR, custom train-val split=true2019.10 | 88.53 | 83.79 | 77.9 | — | |
| AVOD-FPNModality=L+I, Time (ms)=1002019.11 | 88.53 | 83.79 | 77.9 | — | |
| AVOD-FPNLiDAR=true, IMG=true, Time (ms)=1002020.12 | 88.53 | 83.79 | 77.9 | — | |
| PointPillarsModality=LiDAR, custom train-val split=true2019.10 | 88.35 | 86.1 | 79.83 | — | |
| PointPillarsModality=L, Time (ms)=162019.11 | 88.35 | 86.1 | 79.83 | — | |
| SECONDModality=LiDAR2019.10 | 88.07 | 79.37 | 77.95 | — | |
| SECONDModality=L, Time (ms)=502019.11 | 88.07 | 79.37 | 77.95 | — | |
| SECONDLiDAR=true, IMG=false, Time (ms)=502020.12 | 88.07 | 79.37 | 77.95 | — | |
| Fast Point R-CNNModality=L, Time (ms)=652019.11 | 88.03 | 86.1 | 78.17 | — | |
| PIXORLiDAR=true, IMG=false, Time (ms)=352020.12 | 87.25 | 81.92 | 76.01 | — | |
| AVODModality=L+I, Time (ms)=1002019.11 | 86.8 | 85.44 | 77.73 | — | |
| AVODLiDAR=true, IMG=true, Time (ms)=802020.12 | 86.8 | 85.44 | 77.73 | — | |
| MV3DModality=RGB + LiDAR2019.10 | 86.02 | 76.9 | 68.49 | — | |
| MV3DLiDAR=true, IMG=true, Time (ms)=3602020.12 | 86.02 | 76.9 | 68.49 | — | |
| MV3D+imInference Time (ms)=360, Additional input=image2019.02 | 86.02 | 76.9 | 68.49 | — | |
| MV3DModality=L+I, Time (ms)=2402019.11 | 85.82 | 77 | 68.94 | — | |
| MV3DLiDAR=true, IMG=false, Time (ms)=2402020.12 | 85.82 | 77 | 68.94 | — | |
| MV3DInference Time (ms)=2402019.02 | 85.82 | 77 | 68.94 | — | |
| PIXORModality=L, Time (ms)=1002019.11 | 84.44 | 80.04 | 74.31 | — | |
| PIXORInference Time (ms)=352019.02 | 81.7 | 77.05 | 72.95 | — | |
| 3D FCNInference Time (ms)=>50002019.02 | 69.94 | 62.54 | 55.94 | — | |
| VeloFCNInference Time (ms)=10002019.02 | 0.15 | 0.33 | 0.47 | — |