Bird's Eye View (BEV) Detection on KITTI Cars (IoU3D ≥ 0.7) (test)
38.84APBEV R40 (Easy)MoGDE
Evaluation Results
| Method | Links | |||
|---|---|---|---|---|
| MoGDEVenue=TPAMI 25, Extra=Geometry2025.12 | 38.84 | 26.02 | 23.27 | |
| MonoTAKDVenue=CVPR 25, Extra=LiDAR, Params=46.9M, GFLOPs=810, Time=270.1ms2025.12 | 38.75 | 27.76 | 24.14 | |
| LeAD-M3D XVenue=(Ours), Extra=None, Params=36.3M, GFLOPs=218, Time=23.6ms2025.12 | 38.33 | 26.57 | 23.74 | |
| LeAD-M3D BVenue=(Ours), Extra=None, Params=24.9M, GFLOPs=133, Time=13.9ms2025.12 | 37.65 | 26.63 | 23.75 | |
| MonoATTVenue=CVPR 23, Extra=Geometry, Time=56ms2025.12 | 36.87 | 24.42 | 21.88 | |
| DA3DVenue=TIM24, Extra=Geometry, Params=20.1M, GFLOPs=93, Time=24.1ms2025.12 | 36.83 | 26.92 | 23.41 | |
| HSRDNVenue=TIV 24, Extra=LiDAR2025.12 | 36.49 | 23.96 | 19.67 | |
| LeAD-M3D MVenue=(Ours), Extra=None, Params=19.7M, GFLOPs=88, Time=13.3ms2025.12 | 36.21 | 25.46 | 22.89 | |
| MonoSGCVenue=TIV 24, Extra=LiDAR, Params=23.1M, GFLOPs=173, Time=35.0ms2025.12 | 35.78 | 23.27 | 19.92 | |
| OccupancyM3DVenue=CVPR 24, Extra=LiDAR, Params=28.3M, GFLOPs=389, Time=213.9ms2025.12 | 35.38 | 24.18 | 21.37 | |
| MonoDGPVenue=CVPR 25, Extra=Geometry, Params=43.3M, GFLOPs=276, Time=68.1ms2025.12 | 35.24 | 25.23 | 22.02 | |
| DK3DVenue=TPAMI 25, Extra=LiDAR, Params=19.6M, Time=30.1ms2025.12 | 35.23 | 23.59 | 20.1 | |
| ADDVenue=AAAI 23, Extra=LiDAR2025.12 | 35.2 | 23.58 | 20.08 | |
| MonoLSSVenue=3DV 24, Extra=None, Params=21.5M, GFLOPs=127, Time=20.2ms2025.12 | 34.89 | 25.95 | 22.59 | |
| LeAD-M3D SVenue=(Ours), Extra=None, Params=10.1M, GFLOPs=38, Time=10.2ms2025.12 | 34.86 | 24.17 | 21.32 | |
| MonoPSTRVenue=TIM 24, Extra=None, Params=38.0M, GFLOPs=96, Time=35.0ms2025.12 | 34.79 | 22.88 | 19.4 | |
| FD3DVenue=AAAI 24, Extra=None, Time=40ms2025.12 | 34.2 | 23.72 | 20.76 | |
| MonoMAEVenue=NeurIPS 24, Extra=None, Time=38ms2025.12 | 34.14 | 24.93 | 21.76 | |
| GATE3DVenue=CVPRW 25, Extra=None, Time=82ms2025.12 | 33.94 | 25.06 | 22.04 | |
| MonoSTLVenue=TCSVT 24, Extra=LiDAR, Params=50.0M, GFLOPs=159, Time=25.7ms2025.12 | 33.87 | 22.42 | 19.04 | |
| MonoDETRVenue=ICCV 23, Extra=None, Params=37.7M, GFLOPs=119, Time=47.8ms2025.12 | 33.6 | 22.11 | 18.6 | |
| MonoSGVenue=RAL 25, Extra=Stereo, Time=36ms2025.12 | 33.46 | 22.12 | 19.16 | |
| MonoDDEVenue=CVPR 22, Extra=Geometry, Time=36ms2025.12 | 33.41 | 22.81 | 19.57 | |
| MonoCDVenue=CVPR 24, Extra=Geometry, Params=21.8M, GFLOPs=171, Time=28.1ms2025.12 | 33.41 | 22.81 | 19.57 | |
| MonoUNIVenue=NeurIPS 23, Extra=Geometry, Params=22.7M, GFLOPs=122, Time=23.2ms2025.12 | 33.28 | 23.05 | 16.39 | |
| DPLFLEXVenue=CVPR 24, Extra=Unlabeled, Params=21.5M, GFLOPs=152, Time=28.9ms2025.12 | 33.16 | 22.12 | 18.74 | |
| MonoFGVenue=ACM 24, Extra=LiDAR, Time=56ms2025.12 | 32.42 | 21.64 | 18.6 | |
| LeAD-M3D NVenue=(Ours), Extra=None, Params=3.8M, GFLOPs=14, Time=9.7ms2025.12 | 32.22 | 21.72 | 19.41 | |
| MonoDistillVenue=ICLR 22, Extra=LiDAR, Params=50.1M, GFLOPs=159, Time=46.7ms2025.12 | 31.87 | 22.59 | 19.72 | |
| Cube R-CNNVenue=CVPR 23, Extra=None, Params=47.2M, GFLOPs=142, Time=27.3ms2025.12 | 31.7 | 21.2 | 18.43 | |
| MonoNeRDVenue=CVPR 23, Extra=LiDAR, Params=6.6M, GFLOPs=4220, Time=1380.3ms2025.12 | 31.13 | 23.46 | 20.97 | |
| MonoConVenue=AAAI22, Extra=None, Params=19.6M, GFLOPs=115, Time=15.5ms2025.12 | 31.12 | 22.1 | 19 | |
| HomoLossVenue=CVPR 22, Extra=Geometry, Params=21.5M, GFLOPs=152, Time=28.9ms2025.12 | 29.6 | 20.68 | 17.81 | |
| MonoDSSMs-AVenue=ACCV 24, Extra=LiDAR, Params=23.6M, Time=28.8ms2025.12 | 28.84 | 19.54 | 16.3 | |
| Kinematic (Video)Modality=Video2021.03 | 26.69 | 17.52 | 13.1 | |
| GrooMeD-NMSModality=Image2021.03 | 26.19 | 18.27 | 14.05 | |
| AM3DModality=Image2021.03 | 25.03 | 17.32 | 14.91 | |
| M3D-SSDModality=Image2021.03 | 24.15 | 15.93 | 12.11 | |
| MoVi-3DModality=Image2021.03 | 22.76 | 17.03 | 10.86 | |
| D4LCNModality=Image2021.03 | 22.51 | 16.02 | 12.55 | |
| RAR-NetModality=Image2021.03 | 22.45 | 15.02 | 12.93 | |
| UR3DModality=Image2021.03 | 21.85 | 12.51 | 9.2 | |
| M3D-RPNModality=Image2021.03 | 21.02 | 13.67 | 10.23 | |
| SMOKEModality=Image2021.03 | 20.83 | 14.49 | 12.75 | |
| MonoPairModality=Image2021.03 | 19.28 | 14.83 | 12.89 | |
| RTM3DModality=Image2021.03 | 19.17 | 14.2 | 11.99 | |
| MonoPSRModality=Image2021.03 | 18.33 | 12.58 | 9.91 | |
| MonoGRNetModality=Image2021.03 | 18.19 | 11.17 | 8.73 | |
| MonoDISModality=Image2021.03 | 17.23 | 13.19 | 11.12 | |
| ROI-10DModality=Image2021.03 | 9.78 | 4.91 | 3.74 | |
| GS3DModality=Image2021.03 | 8.41 | 6.08 | 4.94 | |
| FQNetModality=Image2021.03 | 5.4 | 3.23 | 2.46 |