Bird's Eye View Object Detection (Car) on KITTI (test)
95.03APBEV (Easy) @IoU=0.7SA-SSD
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| SA-SSD2021.01 | 95.03 | 91.03 | 85.96 | |
| PV-RCNNSensor=LiDAR, Recall positions=402021.08 | 94.98 | 90.65 | 86.14 | |
| PV-RCNNBackbone=PV-RCNN2021.01 | 94.98 | 90.65 | 86.14 | |
| STD2021.01 | 94.74 | 89.19 | 86.42 | |
| Point-GNN2021.01 | 93.11 | 89.17 | 83.9 | |
| 3DSSD2021.01 | 92.66 | 89.02 | 85.86 | |
| PV-RCNN + DSABackbone=PV-RCNN2021.01 | 92.42 | 90.13 | 85.93 | |
| Point-RCNNSensor=LiDAR, Recall positions=402021.08 | 92.13 | 87.39 | 82.72 | |
| PointRCNN2021.01 | 92.13 | 87.39 | 82.72 | |
| PointPillarsSensor=LiDAR, Recall positions=402021.08 | 90.07 | 86.56 | 82.81 | |
| PointPillarsBackbone=PointPillars2021.01 | 90.07 | 86.56 | 82.81 | |
| SECONDSensor=LiDAR, Recall positions=402021.08 | 89.39 | 83.77 | 78.59 | |
| SECONDBackbone=SECOND2021.01 | 89.39 | 83.77 | 78.59 | |
| LIGA-StereoSensor=Stereo, Recall positions=402021.08 | 88.15 | 76.78 | 67.4 | |
| MV3DSensor=LiDAR, Recall positions=402021.08 | 86.62 | 78.93 | 69.8 | |
| MV3D2021.01 | 86.62 | 78.93 | 69.8 | |
| CG-StereoSensor=Stereo, Recall positions=402021.08 | 85.29 | 66.44 | 58.95 | |
| PL++ (SDN+GDC)Sensor=Stereo, Recall positions=40, 4-beam LiDAR refinement=true2021.08 | 84.61 | 73.8 | 65.59 | |
| CDNSensor=Stereo, Recall positions=402021.08 | 83.32 | 66.24 | 57.65 | |
| PLUME-MiddleSensor=Stereo, Recall positions=402021.08 | 83 | 66.3 | 56.7 | |
| DSGNSensor=Stereo, Recall positions=402021.08 | 82.9 | 65.05 | 56.6 | |
| Disp-RCNNSensor=Stereo, Recall positions=402021.08 | 79.76 | 58.62 | 47.73 | |
| PL++: P-RCNNSensor=Stereo, Recall positions=402021.08 | 78.31 | 58.01 | 51.25 | |
| ZoomNetSensor=Stereo, Recall positions=402021.08 | 72.94 | 54.91 | 44.14 | |
| OC-StereoSensor=Stereo, Recall positions=402021.08 | 68.89 | 51.47 | 42.97 | |
| PL: AVODSensor=Stereo, Recall positions=402021.08 | 67.3 | 45 | 38.4 | |
| Stereo R-CNNSensor=Stereo, Recall positions=402021.08 | 61.92 | 41.31 | 33.42 | |
| OccupancyM3DExtra data=LiDAR2024.10 | 35.38 | 24.18 | 21.37 | |
| MonoDGPExtra data=None2024.10 | 35.24 | 25.23 | 22.02 | |
| FD3DExtra data=None2024.10 | 34.2 | 23.72 | 20.76 | |
| MonoDETRExtra data=None2024.10 | 33.6 | 22.11 | 18.6 | |
| MonoDDEExtra data=None2024.10 | 33.58 | 23.46 | 20.37 | |
| OPA-3DExtra data=Depth2024.10 | 33.54 | 22.53 | 19.22 | |
| MonoCDExtra data=None2024.10 | 33.41 | 22.81 | 19.57 | |
| DID-M3DExtra data=LiDAR2024.10 | 32.95 | 22.76 | 19.83 | |
| MonoPGCExtra data=Depth2024.10 | 32.5 | 23.14 | 20.3 | |
| MonoConExtra data=None2024.10 | 31.12 | 22.1 | 19 | |
| DEVIANTExtra data=None2024.10 | 29.65 | 20.44 | 17.43 | |
| MonoEFTime(ms)=302022.03 | 29.03 | 19.7 | 17.26 | |
| MonoDTRTime(ms)=372022.03 | 28.59 | 20.38 | 17.14 | |
| MonoDTRExtra data=LiDAR2024.10 | 28.59 | 20.38 | 17.14 | |
| MonoFlexTime(ms)=302022.03 | 28.23 | 19.75 | 16.89 | |
| DFRNetTime(ms)=1802022.03 | 28.17 | 19.17 | 14.84 | |
| DDMP-3DTime(ms)=1802022.03 | 28.08 | 17.89 | 13.44 | |
| MonoRUnTime(ms)=702022.03 | 27.94 | 17.34 | 15.24 | |
| CaDDNTime(ms)=6302022.03 | 27.94 | 18.91 | 17.19 | |
| CaDDNExtra data=LiDAR2024.10 | 27.94 | 18.91 | 17.19 | |
| Kinematic3DTime(ms)=1202022.03 | 26.69 | 17.52 | 13.1 | |
| GrooMeD-NMSTime(ms)=1202022.03 | 26.19 | 18.27 | 14.05 | |
| MonoRCNNTime(ms)=702022.03 | 25.48 | 18.11 | 14.1 | |
| AM3DTime(ms)=4002022.03 | 25.03 | 17.32 | 14.91 | |
| MonoDLETime(ms)=402022.03 | 24.79 | 18.89 | 16 | |
| M3DSSDTime(ms)=null2022.03 | 24.15 | 15.93 | 12.11 | |
| PatchNetTime(ms)=4002022.03 | 22.97 | 16.86 | 14.97 | |
| MoVi-3DTime(ms)=452022.03 | 22.76 | 17.03 | 14.85 | |
| D4LCNTime(ms)=2002022.03 | 22.51 | 16.02 | 12.55 | |
| M3D-RPNTime(ms)=1602022.03 | 21.02 | 13.67 | 10.23 | |
| MonoPairTime(ms)=602022.03 | 19.28 | 14.83 | 12.89 | |
| MonoPSRTime(ms)=2002022.03 | 18.33 | 12.58 | 9.91 |