Monocular 3D Object Detection on KITTI car category (val)
22.94AP 3D (R40)LeAD-M3D X
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| LeAD-M3D XExtra=None, Batch size=1, TensorRT=false, Hardware=NVIDIA RTX 80002025.12 | 22.94 | — | — | — | — | — | — | 23.6 | |
| LeAD-M3D BExtra=None, Batch size=1, TensorRT=false, Hardware=NVIDIA RTX 80002025.12 | 22.72 | — | — | — | — | — | — | 13.9 | |
| MonoTAKDExtra=LiDAR, Batch size=1, TensorRT=false, Hardware=NVIDIA RTX 80002025.12 | 22.61 | — | — | — | — | — | — | 270.1 | |
| MonoATTExtra=Geometry, Batch size=1, TensorRT=false, Hardware=NVIDIA RTX 80002025.12 | 22.47 | — | — | — | — | — | — | 56 | |
| MonoDGPExtra=Geometry, Batch size=1, TensorRT=false, Hardware=NVIDIA RTX 80002025.12 | 22.34 | — | — | — | — | — | — | 68.1 | |
| LeAD-M3D MExtra=None, Batch size=1, TensorRT=false, Hardware=NVIDIA RTX 80002025.12 | 22.34 | — | — | — | — | — | — | 13.3 | |
| MonoDiffExtra=None, Batch size=1, TensorRT=false, Hardware=NVIDIA RTX 80002025.12 | 22.02 | — | — | — | — | — | — | 86 | |
| DA3DExtra=Geometry, Batch size=1, TensorRT=false, Hardware=NVIDIA RTX 80002025.12 | 21.68 | — | — | — | — | — | — | 24.1 | |
| MonoMAEExtra=None, Batch size=1, TensorRT=false, Hardware=NVIDIA RTX 80002025.12 | 20.9 | — | — | — | — | — | — | 38 | |
| MonoSGExtra=Stereo, Batch size=1, TensorRT=false, Hardware=NVIDIA RTX 80002025.12 | 20.77 | — | — | — | — | — | — | 36 | |
| LeAD-M3D SExtra=None, Batch size=1, TensorRT=false, Hardware=NVIDIA RTX 80002025.12 | 20.65 | — | — | — | — | — | — | 10.2 | |
| MoGDEExtra=Geometry, Batch size=1, TensorRT=false, Hardware=NVIDIA RTX 80002025.12 | 20.35 | — | — | — | — | — | — | — | |
| FD3DExtra=None, Batch size=1, TensorRT=false, Hardware=NVIDIA RTX 80002025.12 | 20.23 | — | — | — | — | — | — | 40 | |
| YOLOv10-M3D X (Baseline)Extra=None, Batch size=1, TensorRT=false, Hardware=NVIDIA RTX 80002025.12 | 19.98 | — | — | — | — | — | — | 31.7 | |
| MonoNeRDExtra=LiDAR, Batch size=1, TensorRT=false, Hardware=NVIDIA RTX 80002025.12 | 19.96 | — | — | — | — | — | — | 1,380.3 | |
| OccupancyM3DExtra=LiDAR, Batch size=1, TensorRT=false, Hardware=NVIDIA RTX 80002025.12 | 19.96 | — | — | — | — | — | — | 213.9 | |
| DPLFLEXExtra=Unlabeled, Batch size=1, TensorRT=false, Hardware=NVIDIA RTX 80002025.12 | 19.84 | — | — | — | — | — | — | 28.9 | |
| MonoDDEExtra=Geometry, Batch size=1, TensorRT=false, Hardware=NVIDIA RTX 80002025.12 | 19.75 | — | — | — | — | — | — | 36 | |
| YOLOv10-M3D B (Baseline)Extra=None, Batch size=1, TensorRT=false, Hardware=NVIDIA RTX 80002025.12 | 19.6 | — | — | — | — | — | — | 21.5 | |
| MonoSGCExtra=LiDAR, Batch size=1, TensorRT=false, Hardware=NVIDIA RTX 80002025.12 | 19.55 | — | — | — | — | — | — | 35 | |
| DDMLExtra=None, Batch size=1, TensorRT=false, Hardware=NVIDIA RTX 80002025.12 | 19.43 | — | — | — | — | — | — | 15.5 | |
| MonoCDExtra=Geometry, Batch size=1, TensorRT=false, Hardware=NVIDIA RTX 80002025.12 | 19.37 | — | — | — | — | — | — | 28.1 | |
| YOLOv10-M3D M (Baseline)Extra=None, Batch size=1, TensorRT=false, Hardware=NVIDIA RTX 80002025.12 | 19.26 | — | — | — | — | — | — | 21 | |
| MonoConExtra=None, Batch size=1, TensorRT=false, Hardware=NVIDIA RTX 80002025.12 | 19.01 | — | — | — | — | — | — | 15.5 | |
| LeAD-M3D NExtra=None, Batch size=1, TensorRT=false, Hardware=NVIDIA RTX 80002025.12 | 18.41 | — | — | — | — | — | — | 9.7 | |
| MonoLSSExtra=None, Batch size=1, TensorRT=false, Hardware=NVIDIA RTX 80002025.12 | 18.29 | — | — | — | — | — | — | 20.2 | |
| YOLOv10-M3D S (Baseline)Extra=None, Batch size=1, TensorRT=false, Hardware=NVIDIA RTX 80002025.12 | 17.85 | — | — | — | — | — | — | 16.7 | |
| MonoSTLExtra=LiDAR, Batch size=1, TensorRT=false, Hardware=NVIDIA RTX 80002025.12 | 17.14 | — | — | — | — | — | — | 25.7 | |
| MonoPSTRExtra=None, Batch size=1, TensorRT=false, Hardware=NVIDIA RTX 80002025.12 | 17.01 | — | — | — | — | — | — | 35 | |
| HomoLossExtra=Geometry, Batch size=1, TensorRT=false, Hardware=NVIDIA RTX 80002025.12 | 16.89 | — | — | — | — | — | — | 28.9 | |
| ADDExtra=LiDAR, Batch size=1, TensorRT=false, Hardware=NVIDIA RTX 80002025.12 | 16.81 | — | — | — | — | — | — | — | |
| MonoUNIExtra=Geometry, Batch size=1, TensorRT=false, Hardware=NVIDIA RTX 80002025.12 | 16.73 | — | — | — | — | — | — | 23.2 | |
| MonoDETRExtra=None, Batch size=1, TensorRT=false, Hardware=NVIDIA RTX 80002025.12 | 16.47 | — | — | — | — | — | — | 47.8 | |
| MonoFGExtra=LiDAR, Batch size=1, TensorRT=false, Hardware=NVIDIA RTX 80002025.12 | 16.46 | — | — | — | — | — | — | 56 | |
| MonoDistillExtra=LiDAR, Batch size=1, TensorRT=false, Hardware=NVIDIA RTX 80002025.12 | 16.03 | — | — | — | — | — | — | 46.7 | |
| YOLOv10-M3D N (Baseline)Extra=None, Batch size=1, TensorRT=false, Hardware=NVIDIA RTX 80002025.12 | 14.52 | — | — | — | — | — | — | 16.2 | |
| HSRDNExtra=LiDAR, Batch size=1, TensorRT=false, Hardware=NVIDIA RTX 80002025.12 | 13.61 | — | — | — | — | — | — | — | |
| AutolabelsSupervision=Weak (w/o 2D GT)2026.03 | — | 50.51 | 38.31 | 30.97 | 19.9 | 23.72 | 14.83 | — | |
| CAW3DSupervision=Weak (w/o 2D GT)2026.03 | — | 52.99 | 46.3 | 38.54 | 30.69 | 30.29 | 23.28 | — | |
| CenterNetSupervision=Full2026.03 | — | 34.36 | 20 | 27.91 | 17.5 | 24.65 | 15.57 | — | |
| D4LCNSupervision=Full, Protocol=R11, IoU=0.72022.03 | — | 26 | 19.38 | 20.73 | 16 | 17.46 | 12.94 | — | |
| Deep3DBoxSupervision=Full, Protocol=R11, IoU=0.72022.03 | — | 9.99 | 5.85 | 7.71 | 4.1 | 5.3 | 3.84 | — | |
| FQNetSupervision=Full, Protocol=R11, IoU=0.72022.03 | — | 9.5 | 5.98 | 8.02 | 5.5 | 7.71 | 4.75 | — | |
| GGA+PGDSupervision=Weak (w/ 2D GT)2026.03 | — | 57.2 | 51.48 | 40.11 | 35.73 | 34.96 | 30.49 | — | |
| GUPNetSupervision=Full2026.03 | — | 61.78 | 57.62 | 47.06 | 42.33 | 40.88 | 37.59 | — | |
| KinematicSupervision=Full2026.03 | — | 61.79 | 55.44 | 44.68 | 39.47 | 34.56 | 31.26 | — | |
| M3D-RPNSupervision=Full, Protocol=R11, IoU=0.72022.03 | — | 25.94 | 20.27 | 21.18 | 17.06 | 17.9 | 15.21 | — | |
| M3D-RPNSupervision=Full2026.03 | — | 53.35 | 48.53 | 39.6 | 35.94 | 31.76 | 28.59 | — | |
| Mono3DSupervision=Full, Protocol=R11, IoU=0.72022.03 | — | 5.22 | 2.53 | 5.19 | 2.31 | 4.13 | 2.31 | — | |
| MonoDETRSupervision=Full2026.03 | — | 72.34 | 68.05 | 51.97 | 48.42 | 46.94 | 43.48 | — | |
| MonoDISSupervision=Full, Protocol=R11, IoU=0.72022.03 | — | 24.26 | 18.05 | 18.43 | 14.98 | 16.95 | 13.42 | — | |
| MonoDistillSupervision=Full2026.03 | — | 71.45 | 65.69 | 53.11 | 49.35 | 46.94 | 43.49 | — | |
| MonodleSupervision=Full, Protocol=R11, IoU=0.72022.03 | — | 30.77 | 23.29 | 24.53 | 20.55 | 23.32 | 17.9 | — | |
| MonoDLESupervision=Full2026.03 | — | 60.73 | 55.41 | 46.87 | 43.42 | 41.89 | 37.81 | — | |
| MonoGRNetSupervision=Full2026.03 | — | 52.13 | 47.59 | 35.99 | 32.28 | 28.72 | 25.5 | — | |
| MonoPairSupervision=Full2026.03 | — | 61.06 | 55.38 | 47.63 | 42.39 | 41.92 | 37.99 | — | |
| MonoPSRSupervision=Full, Protocol=R11, IoU=0.72022.03 | — | 20.63 | 12.75 | 18.67 | 11.48 | 14.45 | 8.59 | — | |
| OFTNetSupervision=Full, Protocol=R11, IoU=0.72022.03 | — | 11.06 | 4.07 | 8.79 | 3.27 | 8.91 | 3.29 | — | |
| PatchNetSupervision=Full, Protocol=R11, IoU=0.72022.03 | — | 32.3 | 25.76 | 21.25 | 17.72 | 19.04 | 15.62 | — | |
| Pseudo-LidarSupervision=Full, Protocol=R11, IoU=0.72022.03 | — | 31.88 | 24.12 | 20.84 | 15.74 | 18.92 | 14.96 | — | |
| RoI-10DSupervision=Full, Protocol=R11, IoU=0.72022.03 | — | 14.5 | 10.25 | 9.91 | 6.39 | 8.73 | 6.18 | — | |
| RTM3DSupervision=Full, Protocol=R11, IoU=0.72022.03 | — | 25.56 | 20.77 | 22.12 | 16.86 | 20.91 | 16.63 | — | |
| VirPro+GGA+PGDSupervision=Weak (w/ 2D GT)2026.03 | — | 60.11 | 54.72 | 42.95 | 39.49 | 37.5 | 33.32 | — | |
| VirPro+WeakM3DSupervision=Weak (w/o 2D GT)2026.03 | — | 55.09 | 50.97 | 38.76 | 31.95 | 31.12 | 24.27 | — | |
| VS3DSupervision=Weak (w/o 2D GT)2026.03 | — | 31.59 | 22.62 | 20.59 | 14.43 | 16.28 | 10.91 | — | |
| WeakM3DSupervision=Weak, Protocol=R11, IoU=0.72022.03 | — | 24.89 | 17.06 | 16.47 | 11.63 | 14.09 | 11.17 | — | |
| WeakM3DSupervision=Weak (w/o 2D GT)2026.03 | — | 58.2 | 50.16 | 38.02 | 29.94 | 30.17 | 23.11 | — | |
| WeakM3D-PatchNetSupervision=Weak, Protocol=R11, IoU=0.72022.03 | — | 29.89 | 20.51 | 18.62 | 13.67 | 16.06 | 12.02 | — | |
| WeakMono3dSupervision=Weak (w/ 2D GT)2026.03 | — | 54.32 | 49.37 | 42.83 | 39.01 | 40.07 | 36.34 | — |