Monocular 3D Object Detection on KITTI (test)
19.2AP3D R40 (Mod.)Mono3DV
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| Mono3DVRuntime (ms)=38, GFlops=62.122026.01 | 19.2 | — | — | — | — | — | |
| Mono3DVExtra data=None2026.01 | 19.2 | 28.26 | 16.21 | 35.77 | 24.82 | 21.37 | |
| MonoDGPRuntime (ms)=45, GFlops=71.762026.01 | 18.72 | — | — | — | — | — | |
| MonoDGPExtra data=None2026.01 | 18.72 | 26.35 | 15.97 | 35.24 | 25.23 | 22.02 | |
| MonoPGCExtra data=Depth2026.01 | 17.17 | 24.68 | 14.14 | 32.5 | 23.14 | 20.3 | |
| MonoDDEExtra data=None2026.01 | 17.14 | 24.93 | 15.1 | 33.58 | 23.46 | 20.37 | |
| FD3DExtra data=None2026.01 | 17.12 | 25.38 | 14.5 | 34.2 | 23.72 | 20.76 | |
| OPA-3DExtra data=Depth2026.01 | 17.05 | 24.6 | 14.25 | 33.54 | 22.53 | 19.22 | |
| OccupancyM3DExtra data=LiDAR2026.01 | 17.02 | 25.55 | 14.79 | 35.38 | 24.18 | 21.37 | |
| MonoUNIExtra data=None2026.01 | 16.73 | 24.75 | 13.49 | — | — | — | |
| DPL_FLEXExtra Data=Unlabeled2024.03 | 16.67 | 24.19 | 13.83 | 33.16 | 22.12 | 18.74 | |
| MonoCDExtra data=None2026.01 | 16.59 | 25.53 | 14.53 | 33.41 | 22.81 | 19.57 | |
| MonoDETRRuntime (ms)=38, GFlops=62.122026.01 | 16.47 | — | — | — | — | — | |
| MonoDETRExtra data=None2026.01 | 16.47 | 25 | 13.58 | 33.6 | 22.11 | 18.6 | |
| MonoConExtra data=None2026.01 | 16.46 | 22.5 | 13.95 | 31.12 | 22.1 | 19 | |
| DID-M3DExtra data=LiDAR2026.01 | 16.29 | 24.4 | 13.75 | 32.95 | 22.76 | 19.83 | |
| MonoDTRExtra Data=LiDAR2024.03 | 15.39 | 21.99 | 12.73 | 28.59 | 20.38 | 17.14 | |
| MonoDTRRuntime (ms)=37, GFlops=120.482026.01 | 15.39 | — | — | — | — | — | |
| MonoDTRExtra data=LiDAR2026.01 | 15.39 | 21.99 | 12.73 | 28.59 | 20.38 | 17.14 | |
| HomoLossExtra Data=None2024.03 | 14.94 | 21.75 | 13.07 | 29.6 | 20.68 | 17.81 | |
| MVC-MonoDetExtra Data=Unlabeled2024.03 | 14.56 | 22.13 | 12.09 | 31.62 | 20.11 | 17.21 | |
| DEVIANTExtra data=None2026.01 | 14.46 | 21.88 | 11.89 | 29.65 | 20.44 | 17.43 | |
| Mix-TeachingExtra Data=Unlabeled2024.03 | 14.34 | 21.88 | 11.86 | 30.52 | 19.51 | 16.45 | |
| GUPNetExtra Data=None2024.03 | 14.2 | 20.11 | 11.77 | — | — | — | |
| AutoShapeExtra Data=CAD2024.03 | 14.17 | 22.47 | 11.36 | 30.66 | 20.08 | 15.59 | |
| Zhang et al. DLEExtra Data=None2024.03 | 14.14 | 20.25 | 12.42 | 28.85 | 17.72 | 17.81 | |
| CaDDNExtra Data=LiDAR2024.03 | 13.41 | 19.17 | 11.46 | 27.94 | 18.91 | 17.19 | |
| DDMP-3DExtra Data=Depth2024.03 | 12.78 | 19.71 | 9.8 | 28.08 | 17.89 | 13.44 | |
| Kinematic3DExtra Data=Multi-frames2024.03 | 12.72 | 19.07 | 9.17 | 26.69 | 17.52 | 13.1 | |
| MonoRCNNExtra Data=None2024.03 | 12.65 | 18.36 | 10.03 | 25.48 | 18.11 | 14.1 | |
| MonoFlexExtra Data=None, Note=Reproduction result denoted by †2024.03 | 12.57 | 19.23 | 10.73 | 26.83 | 17.94 | 15.16 | |
| MonoRUnExtra Data=LiDAR2024.03 | 12.3 | 19.65 | 10.58 | 27.94 | 17.34 | 15.24 | |
| PGDExtra Data=None2024.03 | 11.76 | 19.05 | 9.39 | 26.89 | 16.51 | 13.49 | |
| D4LCNExtra Data=Depth2024.03 | 11.72 | 16.65 | 9.51 | 22.51 | 16.02 | 12.55 | |
| Proposed MethodAnnotation ratio=30%, Backbone=ResNet-50, IoU threshold=0.72026.04 | 11.36 | 17.47 | 8.83 | — | — | — | |
| PatchNetExtra Data=Depth2024.03 | 11.12 | 15.68 | 10.17 | 22.97 | 16.86 | 14.97 | |
| RTM3DExtra Data=None2024.03 | 10.09 | 13.61 | 8.18 | — | — | — | |
| MonoPairExtra Data=None2024.03 | 9.99 | 13.04 | 8.65 | 19.28 | 14.83 | 12.89 | |
| SMOKEExtra Data=None2024.03 | 9.76 | 14.03 | 7.84 | 20.83 | 14.49 | 12.75 | |
| SparseDetAnnotation ratio=30%, Backbone=ResNet-50, IoU threshold=0.72026.04 | 7.42 | 10.76 | 6.16 | — | — | — | |
| Co-studentAnnotation ratio=30%, Backbone=ResNet-50, IoU threshold=0.72026.04 | 6.97 | 9.96 | 5.33 | — | — | — | |
| Co-miningAnnotation ratio=30%, Backbone=ResNet-50, IoU threshold=0.72026.04 | 6.41 | 9.93 | 5.25 | — | — | — | |
| Calibrated TeacherAnnotation ratio=30%, Backbone=ResNet-50, IoU threshold=0.72026.04 | 6.09 | 9.26 | 5.02 | — | — | — | |
| BaselineAnnotation ratio=30%, Backbone=ResNet-50, IoU threshold=0.72026.04 | 5.12 | 7.12 | 3.9 | — | — | — |