Birds-Eye-View Detection on KITTI (test)
0.8966AP BEV (Easy)STD
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| STDModality=LiDAR2019.07 | 0.8966 | 0.8776 | 0.8689 | |
| UberATG-MMFModality=RGB + LiDAR2019.07 | 0.8949 | 0.8747 | 0.791 | |
| PointRCNNModality=LiDAR2019.07 | 0.8947 | 0.8568 | 0.791 | |
| PIXOR++ (M)Modality=Multimodal, IoU threshold=0.72019.04 | 0.894 | 0.837 | 0.78 | |
| VoxelNet (S)Modality=Single, IoU threshold=0.72019.04 | 0.894 | 0.793 | 0.774 | |
| VoxelNetClass=Car2018.12 | 0.8935 | 0.7926 | 0.7739 | |
| VoxelNetModality=LiDAR2019.07 | 0.8935 | 0.7926 | 0.7739 | |
| MVX-Net (PF) (M)Modality=Multimodal, IoU threshold=0.7, Feature Fusion Technique=PointFusion2019.04 | 0.892 | 0.859 | 0.781 | |
| HDNET (M)Modality=Multimodal, IoU threshold=0.72019.04 | 0.891 | 0.866 | 0.783 | |
| Cont-Fuse (M)Modality=Multimodal, IoU threshold=0.72019.04 | 0.888 | 0.858 | 0.773 | |
| RoarNetModality=RGB + LiDAR2019.07 | 0.8875 | 0.8608 | 0.788 | |
| F-PointNetClass=Car2018.12 | 0.887 | 0.84 | 0.7533 | |
| F-PointNet (M)Modality=Multimodal, IoU threshold=0.72019.04 | 0.887 | 0.84 | 0.753 | |
| F-PointNetModality=RGB + LiDAR2019.07 | 0.887 | 0.84 | 0.7533 | |
| AVOD-FPNClass=Car2018.12 | 0.8853 | 0.8379 | 0.779 | |
| AVOD-FPNModality=RGB + LiDAR2019.07 | 0.8853 | 0.8379 | 0.779 | |
| AVOD-FPN (M)Modality=Multimodal, IoU threshold=0.72019.04 | 0.885 | 0.838 | 0.779 | |
| PointPillarsModality=LiDAR2019.07 | 0.8835 | 0.861 | 0.7983 | |
| SECONDModality=LiDAR2019.07 | 0.8807 | 0.7937 | 0.7795 | |
| IPODClass=Car2018.12 | 0.8693 | 0.8398 | 0.7785 | |
| AVODClass=Car2018.12 | 0.868 | 0.8544 | 0.7773 | |
| AVOD (M)Modality=Multimodal, IoU threshold=0.72019.04 | 0.868 | 0.854 | 0.777 | |
| AVODModality=RGB + LiDAR2019.07 | 0.868 | 0.8544 | 0.7773 | |
| MV3DClass=Car2018.12 | 0.8602 | 0.769 | 0.6849 | |
| MV3DModality=RGB + LiDAR2019.07 | 0.8602 | 0.769 | 0.6849 | |
| MV3D (M)Modality=Multimodal, IoU threshold=0.72019.04 | 0.86 | 0.769 | 0.685 | |
| MV3D (S)Modality=Single, IoU threshold=0.72019.04 | 0.858 | 0.77 | 0.689 | |
| PIXOR (S)Modality=Single, IoU threshold=0.72019.04 | 0.817 | 0.771 | 0.73 | |
| IPODClass=Cyclist2018.12 | 0.771 | 0.5892 | 0.5101 | |
| YoloStereo3DInput=Stereo, Runtime (ms)=802026.06 | 0.761 | 0.5028 | 0.3686 | |
| F-PointNetClass=Cyclist2018.12 | 0.7538 | 0.6196 | 0.5468 | |
| DSC3DInput=Stereo, Runtime (ms)=1102026.06 | 0.7456 | 0.5121 | 0.4207 | |
| DDStereoInput=Stereo, Runtime (ms)=23.52026.06 | 0.7363 | 0.536 | 0.4502 | |
| TS3DInput=Stereo, Runtime (ms)=882026.06 | 0.7334 | 0.4859 | 0.3698 | |
| FGAS RCNNInput=Stereo, Runtime (ms)=1002026.06 | 0.7256 | 0.5831 | 0.4624 | |
| RTS3DInput=Stereo, Runtime (ms)=392026.06 | 0.7217 | 0.5179 | 0.4319 | |
| RT3D-GMPInput=Stereo, Runtime (ms)=602026.06 | 0.6914 | 0.59 | 0.4549 | |
| OC-StereoInput=Stereo, Runtime (ms)=3502026.06 | 0.6889 | 0.5147 | 0.4297 | |
| AVOD-FPNClass=Cyclist2018.12 | 0.6809 | 0.5748 | 0.5077 | |
| VoxelNetClass=Cyclist2018.12 | 0.667 | 0.5476 | 0.5055 | |
| AVODClass=Cyclist2018.12 | 0.6366 | 0.4774 | 0.4655 | |
| Stereo CenterNetInput=Stereo, Runtime (ms)=432026.06 | 0.6297 | 0.4212 | 0.3537 | |
| StereoRCNNInput=Stereo, Runtime (ms)=2002026.06 | 0.6192 | 0.4131 | 0.3342 | |
| Stereo R-CNNIoU threshold=0.72019.02 | 0.6167 | 0.4387 | 0.3644 | |
| IPODClass=Pedestrian2018.12 | 0.6083 | 0.5124 | 0.454 | |
| RT3DStereoInput=Stereo, Runtime (ms)=792026.06 | 0.5881 | 0.4682 | 0.3838 | |
| AVOD-FPNClass=Pedestrian2018.12 | 0.5875 | 0.5105 | 0.4754 | |
| F-PointNetClass=Pedestrian2018.12 | 0.5809 | 0.5022 | 0.472 | |
| VoxelNetClass=Pedestrian2018.12 | 0.4613 | 0.4074 | 0.3811 | |
| AVODClass=Pedestrian2018.12 | 0.4251 | 0.3524 | 0.3397 | |
| MonoDGPInput=Mono, Runtime (ms)=222026.06 | 0.3524 | 0.2523 | 0.2202 | |
| MonoDETRInput=Mono, Runtime (ms)=202026.06 | 0.336 | 0.2211 | 0.186 | |
| MonoJSGInput=Mono, Runtime (ms)=422026.06 | 0.3259 | 0.2126 | 0.1818 | |
| MonoFlexInput=Mono, Runtime (ms)=302026.06 | 0.2823 | 0.1975 | 0.1689 | |
| TLNetInput=Stereo, Runtime (ms)=1002026.06 | 0.1371 | 0.0769 | 0.0673 | |
| OFT-NetModality=Mono2018.11 | 0.095 | 0.0799 | 0.0751 | |
| 3D-SSMFCNNModality=Mono2018.11 | 0.0366 | 0.0319 | 0.0345 |