# Bird's Eye View (BEV) Detection on KITTI Car (test)

Source: [Bird's Eye View (BEV) Detection on KITTI Car (test)](<https://www.sota2.com/research/sota/bird-s-eye-view-bev-detection-on-kitti-car-test>)

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

Data updated: 2026-02-27T06:43:04.124Z

Evaluation of Bird's Eye View (BEV) Detection performance specifically on the 'Car' subset of the KITTI dataset test split, reporting AP40 metrics 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's Eye View (BEV) Detection |
| Dataset (including any stated split) | KITTI Car (test) |
| Metric | AP40 Easy |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 12 of 12 |
| 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

- [AP40 Easy](<https://www.sota2.com/research/sota/bird-s-eye-view-bev-detection-on-kitti-car-test.md?metric=AP40%20Easy>): Higher is better; unit: PERCENT.

- [AP40 Moderate](<https://www.sota2.com/research/sota/bird-s-eye-view-bev-detection-on-kitti-car-test.md?metric=AP40%20Moderate>): Higher is better; unit: PERCENT.

- [AP40 Hard](<https://www.sota2.com/research/sota/bird-s-eye-view-bev-detection-on-kitti-car-test.md?metric=AP40%20Hard>): Higher is better; unit: PERCENT.

## Recorded results

| Method | AP40 Easy | Result date | Report paper |
| --- | --- | --- | --- |
| Kinematic3D | 26.69 | Not recorded | 68fa699a1e209131cea22fc4 |
| AM3D | 25.03 | Not recorded | 68fa699a1e209131cea22fc4 |
| MonoDLE | 24.79 | Not recorded | 68fa699a1e209131cea22fc4 |
| Decoupled-3D | 23.16 | Not recorded | 68fa699a1e209131cea22fc4 |
| PatchNet | 22.97 | Not recorded | 68fa699a1e209131cea22fc4 |
| D4LCN | 22.51 | Not recorded | 68fa699a1e209131cea22fc4 |
| M3D-RPN | 21.02 | Not recorded | 68fa699a1e209131cea22fc4 |
| SMOKE | 20.83 | Not recorded | 68fa699a1e209131cea22fc4 |
| MonoPair | 19.28 | Not recorded | 68fa699a1e209131cea22fc4 |
| MonoGRNet | 18.19 | Not recorded | 68fa699a1e209131cea22fc4 |
| MonoDIS | 17.23 | Not recorded | 68fa699a1e209131cea22fc4 |
| GS3D | 8.41 | Not recorded | 68fa699a1e209131cea22fc4 |

### Kinematic3D

AP40 Easy: 26.69. Result ID: 69a13cdc35dfcabb00e5b3c4.

[Reporting paper](<https://www.sota2.com/research/paper/68fa699a1e209131cea22fc4.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa67f21e209131cea194d9.md>)

[Implementation](<http://cvlab.cse.msu.edu/project-kinematic.html>)

Recorded evaluation configuration: {"Extra data":"Yes","Runtime":"120ms"}. This record does not assert independent reproduction.

### AM3D

AP40 Easy: 25.03. Result ID: 69a13cdc35dfcabb00e5b3c1.

[Reporting paper](<https://www.sota2.com/research/paper/68fa699a1e209131cea22fc4.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69981e209131cea22ed9.md>)

Recorded evaluation configuration: {"Extra data":"Yes","Runtime":"∼400 ms"}. This record does not assert independent reproduction.

### MonoDLE

AP40 Easy: 24.79. Result ID: 69a13cdc35dfcabb00e5b3cb.

[Reporting paper](<https://www.sota2.com/research/paper/68fa699a1e209131cea22fc4.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa699a1e209131cea22fc4.md>)

[Implementation](<https://github.com/xinzhuma/monodle>)

Recorded evaluation configuration: {"Extra data":"No","Runtime":"40 ms"}. This record does not assert independent reproduction.

### Decoupled-3D

AP40 Easy: 23.16. Result ID: 69a13cdc35dfcabb00e5b3c0.

[Reporting paper](<https://www.sota2.com/research/paper/68fa699a1e209131cea22fc4.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6a1d1e209131cea25f89.md>)

Recorded evaluation configuration: {"Extra data":"Yes"}. This record does not assert independent reproduction.

### PatchNet

AP40 Easy: 22.97. Result ID: 69a13cdc35dfcabb00e5b3c2.

[Reporting paper](<https://www.sota2.com/research/paper/68fa699a1e209131cea22fc4.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa682c1e209131cea1a828.md>)

Recorded evaluation configuration: {"Extra data":"Yes","Runtime":"∼400 ms"}. This record does not assert independent reproduction.

### D4LCN

AP40 Easy: 22.51. Result ID: 69a13cdc35dfcabb00e5b3c3.

[Reporting paper](<https://www.sota2.com/research/paper/68fa699a1e209131cea22fc4.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa66ca1e209131cea124a5.md>)

[Implementation](<https://github.com/dingmyu/D4LCN>)

Recorded evaluation configuration: {"Extra data":"Yes"}. This record does not assert independent reproduction.

### M3D-RPN

AP40 Easy: 21.02. Result ID: 69a13cdc35dfcabb00e5b3c8.

[Reporting paper](<https://www.sota2.com/research/paper/68fa699a1e209131cea22fc4.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa663a1e209131cea0ef88.md>)

[Implementation](<http://cvlab.cse.msu.edu/project-m3d-rpn.html>)

Recorded evaluation configuration: {"Extra data":"No","Runtime":"161 ms"}. This record does not assert independent reproduction.

### SMOKE

AP40 Easy: 20.83. Result ID: 69a13cdc35dfcabb00e5b3c9.

[Reporting paper](<https://www.sota2.com/research/paper/68fa699a1e209131cea22fc4.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa67181e209131cea1418c.md>)

Recorded evaluation configuration: {"Extra data":"No","Runtime":"30 ms"}. This record does not assert independent reproduction.

### MonoPair

AP40 Easy: 19.28. Result ID: 69a13cdc35dfcabb00e5b3ca.

[Reporting paper](<https://www.sota2.com/research/paper/68fa699a1e209131cea22fc4.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa67221e209131cea14918.md>)

Recorded evaluation configuration: {"Extra data":"No","Runtime":"57 ms"}. This record does not assert independent reproduction.

### MonoGRNet

AP40 Easy: 18.19. Result ID: 69a13cdc35dfcabb00e5b3c6.

[Reporting paper](<https://www.sota2.com/research/paper/68fa699a1e209131cea22fc4.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa67581e209131cea15b29.md>)

[Implementation](<https://sites.google.com/view/monogrnet>)

Recorded evaluation configuration: {"Extra data":"No","Runtime":"60 ms"}. This record does not assert independent reproduction.

### MonoDIS

AP40 Easy: 17.23. Result ID: 69a13cdc35dfcabb00e5b3c7.

[Reporting paper](<https://www.sota2.com/research/paper/68fa699a1e209131cea22fc4.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65da1e209131cea0cd01.md>)

Recorded evaluation configuration: {"Extra data":"No"}. This record does not assert independent reproduction.

### GS3D

AP40 Easy: 8.41. Result ID: 69a13cdc35dfcabb00e5b3c5.

[Reporting paper](<https://www.sota2.com/research/paper/68fa699a1e209131cea22fc4.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65841e209131cea0abe8.md>)

Recorded evaluation configuration: {"Extra data":"No","Runtime":"∼2000 ms"}. This record does not assert independent reproduction.

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