Bird's Eye View Object Detection on KITTI official (test)
66.19mAP (Moderate)PointPillars
Evaluation Results
| Method | Links | ||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| PointPillarsModality=Lidar, Speed=62 Hz2018.12 | 66.19 | 88.35 | 86.1 | 79.83 | 58.66 | 50.23 | 47.19 | 79.14 | 62.25 | 56 | — | — | |
| F-PointNetModality=Lidar & Img., Speed=5.9 Hz2018.12 | 65.39 | 88.7 | 84 | 75.33 | 58.09 | 50.22 | 47.2 | 75.38 | 61.96 | 54.68 | — | — | |
| AVOD-FPNModality=Lidar & Img., Speed=10 Hz2018.12 | 64.11 | 88.53 | 83.79 | 77.9 | 58.75 | 51.05 | 47.54 | 68.09 | 57.48 | 50.77 | — | — | |
| SECONDModality=Lidar, Speed=20 Hz2018.12 | 60.56 | 88.07 | 79.37 | 77.95 | 55.1 | 46.27 | 44.76 | 73.67 | 56.04 | 48.78 | — | — | |
| VoxelNetModality=Lidar, Speed=4.4 Hz2018.12 | 58.25 | 89.35 | 79.26 | 77.39 | 46.13 | 40.74 | 38.11 | 66.7 | 54.76 | 50.55 | — | — | |
| MonoTAKDExtra Data=LiDAR2026.03 | 27.76 | — | — | — | — | — | — | — | — | — | 38.75 | 24.14 | |
| MonoIAExtra Data=None2026.03 | 26.59 | — | — | — | — | — | — | — | — | — | 37.55 | 23.26 | |
| MonoCoPExtra Data=None2026.03 | 25.57 | — | — | — | — | — | — | — | — | — | 36.77 | 22.62 | |
| MonoDGPExtra Data=None2026.03 | 25.23 | — | — | — | — | — | — | — | — | — | 35.24 | 22.02 | |
| MonoMAEExtra Data=None2026.03 | 24.93 | — | — | — | — | — | — | — | — | — | 34.15 | 21.76 | |
| OccupancyM3DExtra Data=LiDAR2026.03 | 24.18 | — | — | — | — | — | — | — | — | — | 35.38 | 21.37 | |
| OPA-3DExtra Data=Depth2026.03 | 23.14 | — | — | — | — | — | — | — | — | — | 32.5 | 20.3 | |
| MonoCDExtra Data=None2026.03 | 22.81 | — | — | — | — | — | — | — | — | — | 33.41 | 19.57 | |
| MonoDETRExtra Data=None2026.03 | 22.11 | — | — | — | — | — | — | — | — | — | 33.6 | 18.6 | |
| Cont-FuseModality=Lidar & Img., Speed=16.7 Hz2018.12 | — | 88.81 | 85.83 | 77.33 | — | — | — | — | — | — | — | — | |
| HDNETModality=Lidar & Map, Speed=20 Hz2018.12 | — | 89.14 | 86.57 | 78.32 | — | — | — | — | — | — | — | — | |
| MV3DModality=Lidar & Img., Speed=2.8 Hz2018.12 | — | 86.02 | 76.9 | 68.49 | — | — | — | — | — | — | — | — | |
| PIXOR++Modality=Lidar, Speed=35 Hz2018.12 | — | 89.38 | 83.7 | 77.97 | — | — | — | — | — | — | — | — | |
| RoarnetModality=Lidar & Img., Speed=10 Hz2018.12 | — | 88.2 | 79.41 | 70.02 | — | — | — | — | — | — | — | — |