Object Detection on KITTI (test)
99.36AP Overall EasyPointViT V1
Evaluation results
| Method | Links | |||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| PointViT V1Runtime (s)=0.042026.02 | 99.36 | — | — | — | — | — | — | — | — | — | — | — | — | 94.04 | 86.46 | — | — | — | — | |
| SFDRuntime (s)=0.12026.02 | 98.95 | — | — | — | — | — | — | — | — | — | — | — | — | 96.05 | 90.96 | — | — | — | — | |
| RDIoURuntime (s)=0.032026.02 | 98.77 | — | — | — | — | — | — | — | — | — | — | — | — | 95.95 | 90.9 | — | — | — | — | |
| LVPRuntime (s)=0.042026.02 | 98.68 | — | — | — | — | — | — | — | — | — | — | — | — | 97.66 | 92.81 | — | — | — | — | |
| VirConv-TRuntime (s)=0.092026.02 | 98.64 | — | — | — | — | — | — | — | — | — | — | — | — | 96.01 | 93.12 | — | — | — | — | |
| ViKIENetRuntime (s)=0.042026.02 | 98.59 | — | — | — | — | — | — | — | — | — | — | — | — | 97.9 | 92.98 | — | — | — | — | |
| UDeerPEPRuntime (s)=0.12026.02 | 98.4 | — | — | — | — | — | — | — | — | — | — | — | — | 97.39 | 94.8 | — | — | — | — | |
| PointViT P1Runtime (s)=0.052026.02 | 97.05 | — | — | — | — | — | — | — | — | — | — | — | — | 96.53 | 88.96 | — | — | — | — | |
| PointViT V2Runtime (s)=0.042026.02 | 97.04 | — | — | — | — | — | — | — | — | — | — | — | — | 96.56 | 88.97 | — | — | — | — | |
| VirConv-SRuntime (s)=0.092026.02 | 96.99 | — | — | — | — | — | — | — | — | — | — | — | — | 96.46 | 93.74 | — | — | — | — | |
| MLF-DETRuntime (s)=0.092026.02 | 96.87 | — | — | — | — | — | — | — | — | — | — | — | — | 96.09 | 88.78 | — | — | — | — | |
| GraR-PoRuntime (s)=0.062026.02 | 96.83 | — | — | — | — | — | — | — | — | — | — | — | — | 96.09 | 90.99 | — | — | — | — | |
| GraR-VoIRuntime (s)=0.072026.02 | 96.81 | — | — | — | — | — | — | — | — | — | — | — | — | 96.29 | 91.06 | — | — | — | — | |
| CLOCsRuntime (s)=0.12026.02 | 96.77 | — | — | — | — | — | — | — | — | — | — | — | — | 95.93 | 90.93 | — | — | — | — | |
| PVT-SSDRuntime (s)=0.0322026.02 | 96.74 | — | — | — | — | — | — | — | — | — | — | — | — | 95.9 | 90.69 | — | — | — | — | |
| GraR-VoRuntime (s)=0.042026.02 | 96.66 | — | — | — | — | — | — | — | — | — | — | — | — | 95.92 | 92.78 | — | — | — | — | |
| ACFNetRuntime (s)=0.112026.02 | 96.64 | — | — | — | — | — | — | — | — | — | — | — | — | 95.95 | 93.17 | — | — | — | — | |
| VPFNetRuntime (s)=0.062026.02 | 96.63 | — | — | — | — | — | — | — | — | — | — | — | — | 96.04 | 90.99 | — | — | — | — | |
| TEDRuntime (s)=0.12026.02 | 96.63 | — | — | — | — | — | — | — | — | — | — | — | — | 95.96 | 93.24 | — | — | — | — | |
| UPIDetRuntime (s)=0.112026.02 | 96.25 | — | — | — | — | — | — | — | — | — | — | — | — | 95.85 | 93.17 | — | — | — | — | |
| ViKIENet-RRuntime (s)=0.062026.02 | 95.78 | — | — | — | — | — | — | — | — | — | — | — | — | 97.08 | 92.11 | — | — | — | — | |
| 3DOP2019.07 | 93.04 | — | — | — | — | — | — | — | — | — | — | — | — | 88.64 | 79.1 | — | — | — | — | |
| Deep3DBox2019.07 | 92.98 | — | — | — | — | — | — | — | — | — | — | — | — | 89.04 | 77.17 | — | — | — | — | |
| Mono3D2019.07 | 92.33 | — | — | — | — | — | — | — | — | — | — | — | — | 88.66 | 78.96 | — | — | — | — | |
| MMFLiDAR=true, IMG=true, Time (ms)=802020.12 | 91.82 | — | — | — | — | — | — | — | — | — | — | — | — | 90.17 | 88.54 | — | — | — | — | |
| SHJU-HWLiDAR=false, IMG=true, Time (ms)=8502020.12 | 90.81 | — | — | — | — | — | — | — | — | — | — | — | — | 90.08 | 79.98 | — | — | — | — | |
| F-PointNetLiDAR=true, IMG=true, Time (ms)=1702020.12 | 90.78 | — | — | — | — | — | — | — | — | — | — | — | — | 90 | 80.8 | — | — | — | — | |
| RRCLiDAR=false, IMG=true, Time (ms)=36002020.12 | 90.61 | — | — | — | — | — | — | — | — | — | — | — | — | 90.23 | 87.44 | — | — | — | — | |
| MV3DLiDAR=true, IMG=true, Time (ms)=3602020.12 | 90.53 | — | — | — | — | — | — | — | — | — | — | — | — | 89.17 | 80.16 | — | — | — | — | |
| Multi-Fusion2019.07 | 90.43 | — | — | — | — | — | — | — | — | — | — | — | — | 87.33 | 76.78 | — | — | — | — | |
| SECONDLiDAR=true, IMG=false, Time (ms)=502020.12 | 90.4 | — | — | — | — | — | — | — | — | — | — | — | — | 88.4 | 80.21 | — | — | — | — | |
| AVOD-FPNLiDAR=true, IMG=true, Time (ms)=1002020.12 | 89.99 | — | — | — | — | — | — | — | — | — | — | — | — | 87.44 | 80.05 | — | — | — | — | |
| MV3DLiDAR=true, IMG=false, Time (ms)=2402020.12 | 89.8 | — | — | — | — | — | — | — | — | — | — | — | — | 79.76 | 78.61 | — | — | — | — | |
| AVODLiDAR=true, IMG=true, Time (ms)=802020.12 | 89.73 | — | — | — | — | — | — | — | — | — | — | — | — | 88.08 | 80.14 | — | — | — | — | |
| M3D-RPN2019.07 | 84.34 | — | — | — | — | — | — | — | — | — | — | — | — | 83.78 | 67.85 | — | — | — | — | |
| 3D FCNData=LIDAR2016.11 | — | — | — | — | — | — | — | — | — | — | 85.54 | 75.83 | 68.3 | — | — | — | — | — | — | |
| 3D FCN2017.11 | — | 69.94 | 62.54 | 55.94 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DOPTime=3s2016.07 | — | 93.04 | 88.64 | 79.1 | 81.78 | 67.47 | 64.7 | 78.39 | 68.94 | 61.37 | — | — | — | — | — | — | — | — | — | |
| 3DOP2016.04 | — | 93.04 | 88.64 | 79.1 | 81.78 | 67.47 | 64.7 | 78.39 | 68.94 | 61.37 | — | — | — | — | — | — | — | — | — | |
| 3DOPData=Stereo2016.11 | — | — | — | — | — | — | — | — | — | — | 90.09 | 88.34 | 78.79 | — | — | — | — | — | — | |
| 3DVPTime=40s2016.07 | — | 87.46 | 75.77 | 65.38 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DVP2016.04 | — | 87.46 | 75.77 | 65.38 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ACF2016.04 | — | 55.89 | 54.74 | 42.98 | 44.49 | 39.81 | 37.21 | — | — | — | — | — | — | — | — | — | — | — | — | |
| AFDBackbone=Faster R-CNN, Exemplars=true2022.05 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 68.6 | 53.4 | — | — | |
| AFDBackbone=Faster R-CNN, Exemplars=false2022.05 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 20.5 | 50.5 | — | — | |
| AOGTime=3s2016.07 | — | 84.8 | 75.94 | 60.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AOG2016.04 | — | 84.8 | 75.94 | 60.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Attention DistillationBackbone=Faster R-CNN, Exemplars=true2022.05 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 64.2 | 52.8 | — | — | |
| CDSDtraining_source=Cityscapes2023.07 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 70.5 | — | |
| CompACT-DeepTime=1s2016.07 | — | — | — | — | 70.69 | 58.74 | 52.71 | — | — | — | — | — | — | — | — | — | — | — | — | |
| DeepPartsTime=1s2016.07 | — | — | — | — | 70.49 | 58.67 | 52.78 | — | — | — | — | — | — | — | — | — | — | — | — | |
| DeepParts2016.04 | — | — | — | — | 70.49 | 58.67 | 52.78 | — | — | — | — | — | — | — | — | — | — | — | — | |
| DoBEM2017.11 | — | 36.49 | 36.95 | 38.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DPM2016.04 | — | 68.02 | 56.48 | 44.18 | 47.74 | 39.36 | 35.95 | 35.04 | 27.5 | 26.21 | — | — | — | — | — | — | — | — | — | |
| DPM-VOC-VPTime=8s2016.07 | — | 74.95 | 64.71 | 48.76 | 59.48 | 44.86 | 40.37 | 42.43 | 31.08 | 28.23 | — | — | — | — | — | — | — | — | — | |
| DPM-VOC+VP2016.04 | — | 74.95 | 64.71 | 48.76 | 59.48 | 44.86 | 40.37 | 42.43 | 31.08 | 28.23 | — | — | — | — | — | — | — | — | — | |
| EWCBackbone=Faster R-CNN, Exemplars=true2022.05 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 68.4 | 52.8 | — | — | |
| EWCBackbone=Faster R-CNN, Exemplars=false2022.05 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 10.7 | 53.4 | — | — | |
| Faster R-CNN2016.04 | — | 86.71 | 81.84 | 71.12 | 78.86 | 65.9 | 61.18 | 72.26 | 63.35 | 55.9 | — | — | — | — | — | — | — | — | — | |
| Faster R-CNNData=Mono2016.11 | — | — | — | — | — | — | — | — | — | — | 87.9 | 79.11 | 70.19 | — | — | — | — | — | — | |
| Faster-RCNNTime=2s2016.07 | — | 86.71 | 81.84 | 71.12 | 78.86 | 65.9 | 61.18 | 72.26 | 63.35 | 55.9 | — | — | — | — | — | — | — | — | — | |
| Faster-RCNNtraining_source=Cityscapes2023.07 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 72.5 | — | |
| Feature DistillationBackbone=Faster R-CNN, Exemplars=true2022.05 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 62.7 | 54.4 | — | — | |
| FilteredICFTime=2s2016.07 | — | — | — | — | 67.65 | 56.75 | 51.12 | — | — | — | — | — | — | — | — | — | — | — | — | |
| FilteredICF2016.04 | — | — | — | — | 67.65 | 56.75 | 51.12 | — | — | — | — | — | — | — | — | — | — | — | — | |
| Fine-tuningBackbone=Faster R-CNN, Exemplars=false2022.05 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 13.5 | 54.2 | — | — | |
| Fine-tuningBackbone=Sparse R-CNN, Exemplars=false2022.05 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 18.6 | 53.6 | — | — | |
| Frustum PointNets (v1)version=v12017.11 | — | 87.28 | 77.09 | 67.9 | 55.26 | 47.56 | 42.57 | 73.42 | 59.87 | 52.88 | — | — | — | — | — | — | — | — | — | |
| Frustum PointNets (v2)version=v22017.11 | — | 88.7 | 84 | 75.33 | 58.09 | 50.22 | 47.2 | 75.38 | 61.96 | 54.68 | — | — | — | — | — | — | — | — | — | |
| Fusion-DPMProcessor=1-core 3.5GHz CPU, Speed=30s2016.09 | — | — | — | — | 59.51 | 46.67 | 42.05 | — | — | — | — | — | — | — | — | — | — | — | — | |
| Gra-PUUpsampling ratio=2x, IoU threshold=0.7, Detection type=bbox2025.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 20.5 | 16.67 | |
| Ground truthUpsampling ratio=none, Detection type=bbox2025.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 20.36 | 18.18 | |
| IBN-Nettraining_source=Cityscapes2023.07 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 66.7 | — | |
| ISWtraining_source=Cityscapes2023.07 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 71.4 | — | |
| IterNormtraining_source=Cityscapes2023.07 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 71.9 | — | |
| Joint TrainingBackbone=Faster R-CNN, Exemplars=false2022.05 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 83.7 | 55 | — | — | |
| Joint TrainingBackbone=Sparse R-CNN, Exemplars=false2022.05 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 81.8 | 55.5 | — | — | |
| LSVM-MDPM-svTime=10s2016.07 | — | 68.02 | 56.48 | 44.18 | 47.74 | 39.36 | 35.95 | 35.04 | 27.5 | 26.21 | — | — | — | — | — | — | — | — | — | |
| LwF DetectionBackbone=Faster R-CNN, Exemplars=true2022.05 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 59.9 | 54.7 | — | — | |
| MASBackbone=Faster R-CNN, Exemplars=true2022.05 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 67.7 | 55.6 | — | — | |
| MASBackbone=Faster R-CNN, Exemplars=false2022.05 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 11.5 | 54 | — | — | |
| Mono3D2016.04 | — | 92.33 | 88.66 | 78.96 | 80.35 | 66.68 | 63.44 | 76.04 | 66.36 | 58.87 | — | — | — | — | — | — | — | — | — | |
| Mono3DData=Mono2016.11 | — | — | — | — | — | — | — | — | — | — | 90.27 | 87.86 | 78.09 | — | — | — | — | — | — | |
| MS-CNNTime=0.4s2016.07 | — | 90.03 | 89.02 | 76.11 | 83.92 | 73.7 | 68.31 | 84.06 | 75.46 | 66.07 | — | — | — | — | — | — | — | — | — | |
| MS-CNN2016.04 | — | 90.03 | 89.02 | 76.11 | 83.92 | 73.7 | 68.31 | 84.06 | 75.46 | 66.07 | — | — | — | — | — | — | — | — | — | |
| MS-CNNData=Mono2016.11 | — | — | — | — | — | — | — | — | — | — | 90.46 | 88.83 | 74.76 | — | — | — | — | — | — | |
| MV-RGBD-RFProcessor=4-core 2.5GHz CPU, Speed=4s2016.09 | — | 76.4 | 69.92 | 57.47 | 73.3 | 56.59 | 49.63 | 52.97 | 42.61 | 37.42 | — | — | — | — | — | — | — | — | — | |
| MV3D2017.11 | — | 86.02 | 76.9 | 68.49 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MV3D (BV+FV)Data=LIDAR2016.11 | — | — | — | — | — | — | — | — | — | — | 89.8 | 79.76 | 78.61 | — | — | — | — | — | — | |
| MV3D (BV+FV+RGB)Data=LIDAR+Mono2016.11 | — | — | — | — | — | — | — | — | — | — | 90.37 | 88.9 | 79.81 | — | — | — | — | — | — | |
| OC-DPM2016.04 | — | 74.94 | 65.95 | 53.86 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PAUCEnsTTime=60s2016.07 | — | — | — | — | 65.26 | 54.49 | 48.6 | 51.62 | 38.03 | 33.38 | — | — | — | — | — | — | — | — | — | |
| PDANSUpsampling ratio=2x, IoU threshold=0.7, Detection type=bbox, Note=Evaluated using public code with dagger marker in table2025.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 20.25 | 16.04 | |
| PUDMUpsampling ratio=2x, IoU threshold=0.7, Detection type=bbox2025.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 20.18 | 15.79 | |
| PUFMUpsampling ratio=2x, IoU threshold=0.7, Detection type=bbox2025.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 4.22 | 13.51 | |
| PUFM++Upsampling ratio=2x, IoU threshold=0.7, Detection type=bbox2025.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 23.86 | 16.88 | |
| PUGANUpsampling ratio=2x, IoU threshold=0.7, Detection type=bbox2025.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 16.78 | 14.68 | |
| RegionletsTime=1s2016.07 | — | 84.75 | 76.45 | 59.7 | 73.14 | 61.15 | 55.21 | 70.41 | 58.72 | 51.83 | — | — | — | — | — | — | — | — | — | |
| Regionlets2016.04 | — | 84.75 | 76.45 | 59.7 | 73.14 | 61.15 | 55.21 | 70.41 | 58.72 | 51.83 | — | — | — | — | — | — | — | — | — | |
| ROSETTABackbone=Faster R-CNN, Exemplars=false2022.05 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 78.4 | 54.7 | — | — |