Bird's Eye View Object Detection on KITTI (test)
94.98APBEV@0.7 (Easy)PV-RCNN
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| PV-RCNNInput Modality=LiDAR based2022.11 | 94.98 | 90.65 | 86.14 | |
| Voxel R-CNNInput Modality=LiDAR based2022.11 | 94.85 | 88.63 | 86.13 | |
| PDVInput Modality=LiDAR based2022.11 | 94.56 | 90.48 | 86.23 | |
| EPNetInput Modality=LiDAR-Camera based2022.11 | 94.22 | 88.47 | 83.69 | |
| VoTr-TSDInput Modality=LiDAR based2022.11 | 94.03 | 90.34 | 86.14 | |
| 3D-CVFInput Modality=LiDAR-Camera based2022.11 | 93.52 | 89.56 | 82.45 | |
| IA-SSDInput Modality=LiDAR based2022.11 | 93.14 | 89.48 | 84.42 | |
| 3D Dual-FusionInput Modality=LiDAR-Camera based2022.11 | 93.08 | 90.86 | 86.44 | |
| CLOCSInput Modality=LiDAR-Camera based2022.11 | 93.05 | 89.8 | 86.57 | |
| HMFIInput Modality=LiDAR-Camera based2022.11 | 93.04 | 89.17 | 86.37 | |
| Focals ConvInput Modality=LiDAR-Camera based2022.11 | 92.67 | 89 | 86.33 | |
| Pyramid-PVInput Modality=LiDAR based2022.11 | 92.19 | 88.84 | 86.21 | |
| MMFInput Modality=LiDAR-Camera based2022.11 | 89.49 | 87.47 | 79.1 | |
| Local Ray AttentionWith DM3D=true2022.07 | 46.17 | 33.13 | 28.8 | |
| Local Ray Attention2022.07 | 41.41 | 28.5 | 23.88 | |
| LPCGWith DM3D=true2022.07 | 39.74 | 28.84 | 26.08 | |
| GCDR+DDA2022.07 | 37.86 | 27.92 | 21.97 | |
| LPCG-Monoflex2022.07 | 35.96 | 24.81 | 21.86 | |
| MonoInsight2022.07 | 34.85 | 24.23 | 20.87 | |
| MonoDDE2022.07 | 33.58 | 23.46 | 20.37 | |
| PS-fld2022.07 | 32.64 | 23.76 | 20.64 | |
| DD3D2022.07 | 32.35 | 23.41 | 20.42 | |
| MonoDETR2022.07 | 32.2 | 21.45 | 18.68 | |
| CenterNetAnchor Type=Anchor-free, Augmentation=geo aug, Running time (ms)=302021.04 | 31.58 | 20.75 | 17.66 | |
| MonoCon2022.07 | 31.12 | 22.1 | 19 | |
| AutoShapeAnchor Type=Anchor-free, Running time (ms)=502021.04 | 30.66 | 20.08 | 15.59 | |
| MonoEFAnchor Type=Anchor-free, Running time (ms)=302021.04 | 29.03 | 19.7 | 17.26 | |
| MonoDTR2022.07 | 28.59 | 20.38 | 17.14 | |
| MonoFlexAnchor Type=Anchor-free, Running time (ms)=302021.04 | 28.23 | 19.75 | 16.89 | |
| M3D-RPNAnchor Type=Anchor-based, Augmentation=geo aug, Running time (ms)=402021.04 | 28.15 | 19.67 | 16.73 | |
| DDMP-3DAnchor Type=Anchor-based, Running time (ms)=null2021.04 | 28.08 | 17.89 | 13.44 | |
| MonoRunAnchor Type=Anchor-based, Running time (ms)=702021.04 | 27.94 | 17.34 | 15.24 | |
| CaDDNAnchor Type=Anchor-based, Running time (ms)=6302021.04 | 27.94 | 18.01 | 17.19 | |
| MonodleAnchor Type=Anchor-free, Running time (ms)=402021.04 | 27.94 | 17.34 | 15.24 | |
| CaDDN2022.07 | 27.94 | 18.91 | 17.19 | |
| CenterNetAnchor Type=Anchor-free, Augmentation=vanilla aug, Running time (ms)=302021.04 | 27.89 | 19.24 | 15.53 | |
| KinemanticAnchor Type=Anchor-based, Running time (ms)=null2021.04 | 26.69 | 17.52 | 13.1 | |
| M3D-RPNAnchor Type=Anchor-based, Augmentation=vanilla aug, Running time (ms)=402021.04 | 26.53 | 17.78 | 12.11 | |
| GrooMed-NMSAnchor Type=Anchor-based, Running time (ms)=null2021.04 | 26.19 | 18.27 | 14.05 | |
| Mono R-CNNAnchor Type=Anchor-based, Running time (ms)=702021.04 | 25.48 | 18.11 | 14.1 | |
| ImVoxelNetTraining with depth modality=false2021.06 | 25.19 | 16.37 | 13.58 | |
| AM3DTraining with depth modality=true2021.06 | 25.03 | 17.32 | 14.91 | |
| M3DSSDAnchor Type=Anchor-based, Running time (ms)=null2021.04 | 24.15 | 15.93 | 12.11 | |
| D4LCNTraining with depth modality=true2021.06 | 22.51 | 16.02 | 12.55 | |
| M3D-RPNTraining with depth modality=false2021.06 | 21.02 | 13.67 | 10.23 | |
| SMOKETraining with depth modality=false2021.06 | 20.83 | 14.49 | 12.75 | |
| RTM3DTraining with depth modality=false2021.06 | 19.17 | 14.2 | 11.99 | |
| MonoGRNetTraining with depth modality=false2021.06 | 18.19 | 11.17 | 8.73 | |
| MonoDISTraining with depth modality=false2021.06 | 17.23 | 13.19 | 11.12 | |
| MonoFENetTraining with depth modality=true2021.06 | 17.03 | 11.03 | 9.05 | |
| OFT-Net2022.07 | 9.5 | 7.99 | 7.51 | |
| GS3DTraining with depth modality=false2021.06 | 8.41 | 6.08 | 4.94 | |
| OFTNetTraining with depth modality=false2021.06 | 7.16 | 5.69 | 4.61 |