# Bird-Eye-View (BEV) Object Detection on KITTI official (test) Source: [Bird-Eye-View (BEV) Object Detection on KITTI official (test)]() Collection index: [llms.txt]() Data updated: 2026-02-26T05:23:26.542Z Evaluation of Bird's Eye View (BEV) Object Detection performance on the official test split of the KITTI dataset, reporting Average Precision (APBEV70) 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 | Bird-Eye-View (BEV) Object Detection | | Dataset (including any stated split) | KITTI official (test) | | Metric | APBEV70 (Moderate) | | Unit | PERCENT | | Direction | Higher is better | | Results loaded | 17 of 17 | | 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 - [APBEV70 (Moderate)](): Higher is better; unit: PERCENT. - [APBEV70 (Easy)](): Higher is better; unit: PERCENT. - [APBEV70 (Hard)](): Higher is better; unit: PERCENT. ## Recorded results | Method | APBEV70 (Moderate) | Result date | Report paper | | --- | --- | --- | --- | | IAFA | 17.88 | Not recorded | 68fa696d1e209131cea21f75 | | RefinedMPL | 17.6 | Not recorded | 68fa696d1e209131cea21f75 | | AM3D | 17.32 | Not recorded | 68fa696d1e209131cea21f75 | | D4LCN | 16.02 | Not recorded | 68fa696d1e209131cea21f75 | | MonoPair | 14.83 | Not recorded | 68fa696d1e209131cea21f75 | | Decoupled-3D | 14.82 | Not recorded | 68fa696d1e209131cea21f75 | | SMOKE | 14.49 | Not recorded | 68fa696d1e209131cea21f75 | | Baseline | 14.49 | Not recorded | 68fa696d1e209131cea21f75 | | RTM3D | 14.2 | Not recorded | 68fa696d1e209131cea21f75 | | MonoPSR | 12.58 | Not recorded | 68fa696d1e209131cea21f75 | | MonoGRNet | 11.17 | Not recorded | 68fa696d1e209131cea21f75 | | MonoFENet | 11.03 | Not recorded | 68fa696d1e209131cea21f75 | | Shift R-CNN | 6.82 | Not recorded | 68fa696d1e209131cea21f75 | | GS3D | 6.08 | Not recorded | 68fa696d1e209131cea21f75 | | MVRA | 5.84 | Not recorded | 68fa696d1e209131cea21f75 | | ROI-10D | 4.91 | Not recorded | 68fa696d1e209131cea21f75 | | FQNet | 3.23 | Not recorded | 68fa696d1e209131cea21f75 | ### IAFA APBEV70 (Moderate): 17.88. Result ID: 698da8cb8b517eb43322ef5c. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modality":"Mono","Time (s)":"0.034"}. This record does not assert independent reproduction. ### RefinedMPL APBEV70 (Moderate): 17.6. Result ID: 698da8cb8b517eb43322ef59. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modality":"Mono\*","Auxiliary information":"Depth","Time (s)":"0.15"}. This record does not assert independent reproduction. ### AM3D APBEV70 (Moderate): 17.32. Result ID: 698da8cb8b517eb43322ef58. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modality":"Mono\*","Auxiliary information":"Depth","Time (s)":"0.40"}. This record does not assert independent reproduction. ### D4LCN APBEV70 (Moderate): 16.02. Result ID: 698da8cb8b517eb43322ef5a. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Modality":"Mono\*","Auxiliary information":"Depth","Time (s)":"0.20"}. This record does not assert independent reproduction. ### MonoPair APBEV70 (Moderate): 14.83. Result ID: 698da8cb8b517eb43322ef52. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modality":"Mono","Time (s)":"0.06"}. This record does not assert independent reproduction. ### Decoupled-3D APBEV70 (Moderate): 14.82. Result ID: 698da8cb8b517eb43322ef56. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modality":"Mono\*","Auxiliary information":"Depth","Time (s)":"0.08"}. This record does not assert independent reproduction. ### SMOKE APBEV70 (Moderate): 14.49. Result ID: 698da8cb8b517eb43322ef51. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modality":"Mono","Time (s)":"0.03"}. This record does not assert independent reproduction. ### Baseline APBEV70 (Moderate): 14.49. Result ID: 698da8cb8b517eb43322ef5b. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modality":"Mono"}. This record does not assert independent reproduction. ### RTM3D APBEV70 (Moderate): 14.2. Result ID: 698da8cb8b517eb43322ef53. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Modality":"Mono","Time (s)":"0.05"}. This record does not assert independent reproduction. ### MonoPSR APBEV70 (Moderate): 12.58. Result ID: 698da8cb8b517eb43322ef57. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modality":"Mono\*","Auxiliary information":"Depth","Time (s)":"0.20"}. This record does not assert independent reproduction. ### MonoGRNet APBEV70 (Moderate): 11.17. Result ID: 698da8cb8b517eb43322ef50. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Modality":"Mono","Time (s)":"0.04"}. This record does not assert independent reproduction. ### MonoFENet APBEV70 (Moderate): 11.03. Result ID: 698da8cb8b517eb43322ef55. [Reporting paper]() Recorded evaluation configuration: {"Modality":"Mono\*","Auxiliary information":"Depth","Time (s)":"0.15"}. This record does not assert independent reproduction. ### Shift R-CNN APBEV70 (Moderate): 6.82. Result ID: 698da8cb8b517eb43322ef4f. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modality":"Mono","Time (s)":"0.25"}. This record does not assert independent reproduction. ### GS3D APBEV70 (Moderate): 6.08. Result ID: 698da8cb8b517eb43322ef4d. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modality":"Mono","Time (s)":"2.0"}. This record does not assert independent reproduction. ### MVRA APBEV70 (Moderate): 5.84. Result ID: 698da8cb8b517eb43322ef4e. [Reporting paper]() Recorded evaluation configuration: {"Modality":"Mono","Time (s)":"0.18"}. This record does not assert independent reproduction. ### ROI-10D APBEV70 (Moderate): 4.91. Result ID: 698da8cb8b517eb43322ef54. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modality":"Mono\*\*","Auxiliary information":"3D model","Time (s)":"0.20"}. This record does not assert independent reproduction. ### FQNet APBEV70 (Moderate): 3.23. Result ID: 698da8cb8b517eb43322ef4c. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modality":"Mono","Time (s)":"0.50"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.