Object Detection Evaluation 2012


The object detection and object orientation estimation benchmark consists of 7481 training images and 7518 test images, comprising a total of 80.256 labeled objects. All images are color and saved as png. For evaluation, we compute precision-recall curves for object detection and orientation-similarity-recall curves for joint object detection and orientation estimation. In the latter case not only the object 2D bounding box has to be located correctly, but also the orientation estimate in bird's eye view is evaluated. To rank the methods we compute average precision and average orientation similiarity. We require that all methods use the same parameter set for all test pairs. Our development kit provides details about the data format as well as MATLAB / C++ utility functions for reading and writing the label files.

We evaluate object detection performance using the PASCAL criteria and object detection and orientation estimation performance using the measure discussed in our CVPR 2012 publication. For cars we require an overlap of 70%, while for pedestrians and cyclists we require an overlap of 50% for a detection. Detections in don't care areas or detections which are smaller than the minimum size do not count as false positive. Difficulties are defined as follows:

  • Easy: Min. bounding box height: 40 Px, Max. occlusion level: Fully visible, Max. truncation: 15 %
  • Moderate: Min. bounding box height: 25 Px, Max. occlusion level: Partly occluded, Max. truncation: 30 %
  • Hard: Min. bounding box height: 25 Px, Max. occlusion level: Difficult to see, Max. truncation: 50 %

All methods are ranked based on the moderately difficult results. Note that for the hard evaluation ~2 % of the provided bounding boxes have not been recognized by humans, thereby upper bounding recall at 98 %. Hence, the hard evaluation is only given for reference.
Note 1: On 25.04.2017, we have fixed a bug in the object detection evaluation script. As of now, the submitted detections are filtered based on the min. bounding box height for the respective category which we have been done before only for the ground truth detections, thus leading to false positives for the category "Easy" when bounding boxes of height 25-39 Px were submitted (and to false positives for all categories if bounding boxes smaller than 25 Px were submitted). We like to thank Amy Wu, Matt Wilder, Pekka Jänis and Philippe Vandermersch for their feedback. The last leaderboards right before the changes can be found here!

Note 2: On 08.10.2019, we have followed the suggestions of the Mapillary team in their paper Disentangling Monocular 3D Object Detection and use 40 recall positions instead of the 11 recall positions proposed in the original Pascal VOC benchmark. This results in a more fair comparison of the results, please check their paper. The last leaderboards right before this change can be found here: Object Detection Evaluation, 3D Object Detection Evaluation, Bird's Eye View Evaluation.
Important Policy Update: As more and more non-published work and re-implementations of existing work is submitted to KITTI, we have established a new policy: from now on, only submissions with significant novelty that are leading to a peer-reviewed paper in a conference or journal are allowed. Minor modifications of existing algorithms or student research projects are not allowed. Such work must be evaluated on a split of the training set. To ensure that our policy is adopted, new users must detail their status, describe their work and specify the targeted venue during registration. Furthermore, we will regularly delete all entries that are 6 months old but are still anonymous or do not have a paper associated with them. For conferences, 6 month is enough to determine if a paper has been accepted and to add the bibliography information. For longer review cycles, you need to resubmit your results.
Additional information used by the methods
  • Stereo: Method uses left and right (stereo) images
  • Flow: Method uses optical flow (2 temporally adjacent images)
  • Multiview: Method uses more than 2 temporally adjacent images
  • Laser Points: Method uses point clouds from Velodyne laser scanner
  • Additional training data: Use of additional data sources for training (see details)

Car


Method Setting Code Moderate Easy Hard Runtime Environment
1 ZEEWAIN-AI 96.14 % 95.22 % 88.94 % 0.3 s GPU @ 2.5 Ghz (Python)
2 CLOCs_PVCas 95.96 % 96.76 % 91.08 % 0.1 s 1 core @ 2.5 Ghz (Python)
S. Pang, D. Morris and H. Radha: CLOCs: Camera-LiDAR Object Candidates Fusion for 3D Object Detection . 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2020.
3 EA-M-RCNN(BorderAtt) 95.88 % 96.68 % 90.89 % 0.08 s 1 core @ 2.5 Ghz (C/C++)
4 PVGNet 95.80 % 96.87 % 93.05 % 0.05 s 1 core @ >3.5 Ghz (C/C++)
5 ADLAB 95.69 % 96.69 % 90.81 % 0.05 s 1 core @ >3.5 Ghz (C/C++)
6 SE-SSD
This method makes use of Velodyne laser scans.
95.60 % 96.69 % 90.53 % 0.03 s 1 core @ 2.5 Ghz (Python + C/C++)
7 HUAWEI Octopus 95.50 % 96.30 % 92.81 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
8 SPANet 95.46 % 96.54 % 90.47 % 0.06 s 1 core @ 2.5 Ghz (C/C++)
9 PC-CNN-V2
This method makes use of Velodyne laser scans.
95.20 % 96.06 % 89.37 % 0.5 s GPU @ 2.5 Ghz (Matlab + C/C++)
X. Du, M. Ang, S. Karaman and D. Rus: A General Pipeline for 3D Detection of Vehicles. 2018 IEEE International Conference on Robotics and Automation (ICRA) 2018.
10 F-PointNet
This method makes use of Velodyne laser scans.
code 95.17 % 95.85 % 85.42 % 0.17 s GPU @ 3.0 Ghz (Python)
C. Qi, W. Liu, C. Wu, H. Su and L. Guibas: Frustum PointNets for 3D Object Detection from RGB-D Data. arXiv preprint arXiv:1711.08488 2017.
11 SA-SSD code 95.16 % 97.92 % 90.15 % 0.04 s 1 core @ 2.5 Ghz (Python)
C. He, H. Zeng, J. Huang, X. Hua and L. Zhang: Structure Aware Single-stage 3D Object Detection from Point Cloud. CVPR 2020.
12 Voxel R-CNN 95.11 % 96.49 % 92.45 % 0.04 s GPU @ 3.0 Ghz (C/C++)
13 3DSSD code 95.10 % 97.69 % 92.18 % 0.04 s GPU @ 2.5 Ghz (Python + C/C++)
Z. Yang, Y. Sun, S. Liu and J. Jia: 3DSSD: Point-based 3D Single Stage Object Detector. CVPR 2020.
14 PV-RCNN-v2 95.05 % 96.08 % 92.42 % 0.06 s 1 core @ 2.5 Ghz (Python + C/C++)
15 MVRA + I-FRCNN+ 94.98 % 95.87 % 82.52 % 0.18 s GPU @ 2.5 Ghz (Python)
H. Choi, H. Kang and Y. Hyun: Multi-View Reprojection Architecture for Orientation Estimation. The IEEE International Conference on Computer Vision (ICCV) Workshops 2019.
16 MSG-PGNN 94.92 % 95.98 % 92.42 % 0.08 s 1 core @ 2.5 Ghz (C/C++)
17 Fast VP-RCNN code 94.91 % 96.01 % 92.22 % 0.05 s 1 core @ >3.5 Ghz (python)
18 SimpleDET 94.90 % 95.98 % 92.39 % 0.08 s 1 core @ 2.5 Ghz (C/C++)
19 MMLab PV-RCNN
This method makes use of Velodyne laser scans.
code 94.70 % 98.17 % 92.04 % 0.08 s 1 core @ 2.5 Ghz (Python + C/C++)
S. Shi, C. Guo, L. Jiang, Z. Wang, J. Shi, X. Wang and H. Li: PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detection. CVPR 2020.
20 CVRS VIC-Net 94.69 % 95.79 % 91.89 % 0.06 s 1 core @ 2.5 Ghz (C/C++)
21 PC-RGNN 94.68 % 95.80 % 92.20 % 0.1 s GPU @ 2.5 Ghz (Python + C/C++)
22 D3D 94.66 % 95.43 % 89.72 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
23 DSA-PV-RCNN
This method makes use of Velodyne laser scans.
94.64 % 95.86 % 92.10 % 0.08 s 1 core @ 2.5 Ghz (Python + C/C++)
24 FSA-PVRCNN
This method makes use of Velodyne laser scans.
94.63 % 95.81 % 92.06 % 0.06 s 1 core @ 2.5 Ghz (C/C++)
25 nonet 94.62 % 95.86 % 91.86 % 0.08 s 1 core @ 2.5 Ghz (C/C++)
26 RangeIoUDet
This method makes use of Velodyne laser scans.
94.61 % 95.74 % 91.98 % 0.02 s 1 core @ 2.5 Ghz (Python)
27 MSL3D 94.60 % 95.76 % 92.16 % 0.03 s GPU @ 2.5 Ghz (Python)
28 Multi-Sensor3D 94.60 % 95.76 % 92.16 % 0.03 s GPU @ 2.5 Ghz (Python)
29 CN 94.60 % 97.86 % 89.81 % 0.04 s GPU @ 2.5 Ghz (Python + C/C++)
30 HyBrid Feature Det 94.59 % 95.76 % 92.18 % 0.08 s 1 core @ 2.5 Ghz (Python + C/C++)
31 ReFineNet 94.59 % 95.75 % 92.12 % 0.08 s 1 core @ 2.5 Ghz (Python)
32 MGACNet 94.57 % 95.35 % 91.77 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
33 RangeRCNN-LV 94.51 % 95.93 % 92.07 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
34 TuSimple code 94.47 % 95.12 % 86.45 % 1.6 s GPU @ 2.5 Ghz (Python + C/C++)
F. Yang, W. Choi and Y. Lin: Exploit all the layers: Fast and accurate cnn object detector with scale dependent pooling and cascaded rejection classifiers. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition 2016.
K. He, X. Zhang, S. Ren and J. Sun: Deep residual learning for image recognition. Proceedings of the IEEE conference on computer vision and pattern recognition 2016.
35 PF-GAP 94.47 % 96.13 % 90.15 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
36 EPNet code 94.44 % 96.15 % 89.99 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
T. Huang, Z. Liu, X. Chen and X. Bai: EPNet: Enhancing Point Features with Image Semantics for 3D Object Detection. ECCV 2020.
37 SERCNN
This method makes use of Velodyne laser scans.
94.42 % 96.33 % 89.96 % 0.1 s 1 core @ 2.5 Ghz (Python)
D. Zhou, J. Fang, X. Song, L. Liu, J. Yin, Y. Dai, H. Li and R. Yang: Joint 3D Instance Segmentation and Object Detection for Autonomous Driving. Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition 2020.
38 CVRS VIC-RCNN 94.38 % 95.89 % 91.90 % 0.08 s 1 core @ 2.5 Ghz (C/C++)
39 CVRS_PF 94.37 % 95.56 % 91.43 % 0.09 s 1 core @ 2.5 Ghz (C/C++)
40 CVIS-DF3D_v2 94.33 % 95.70 % 91.72 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
41 SVGA-Net
This method makes use of Velodyne laser scans.
94.28 % 95.69 % 91.73 % 0.08 s GPU @ 2.5 Ghz (Python + C/C++)
42 UberATG-MMF
This method makes use of Velodyne laser scans.
94.25 % 97.41 % 89.87 % 0.08 s GPU @ 2.5 Ghz (Python)
M. Liang*, B. Yang*, Y. Chen, R. Hu and R. Urtasun: Multi-Task Multi-Sensor Fusion for 3D Object Detection. CVPR 2019.
43 SRDL
This method uses stereo information.
This method makes use of Velodyne laser scans.
94.24 % 95.86 % 91.80 % 0.15 s GPU @ 2.5 Ghz (Python + C/C++)
44 Baseline of CA RCNN 94.23 % 95.84 % 91.80 % 0.1 s GPU @ 2.5 Ghz (Python)
45 CVIS-DF3D 94.23 % 95.84 % 91.80 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
46 tbd code 94.21 % 95.68 % 91.49 % 0.08 s 1 core @ 2.5 Ghz (C/C++)
47 GAP-soft-filter 94.20 % 95.81 % 91.53 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
48 HR-faster-rcnn 94.14 % 95.41 % 86.88 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
49 RangeRCNN
This method makes use of Velodyne laser scans.
94.03 % 95.48 % 91.74 % 0.06 s GPU @ 2.5 Ghz (Python + C/C++)
Z. Liang, M. Zhang, Z. Zhang, X. Zhao and S. Pu: RangeRCNN: Towards Fast and Accurate 3D Object Detection with Range Image Representation. arXiv preprint arXiv:2009.00206 2020.
50 OAP 93.93 % 96.85 % 86.37 % 0.06 s 1 core @ 2.5 Ghz (C/C++)
51 HRI-MSP-L
This method makes use of Velodyne laser scans.
93.92 % 95.51 % 91.42 % 0.07 s 1 core @ 2.5 Ghz (C/C++)
52 AF_V1 93.87 % 94.45 % 86.37 % 0.1 s 1 core @ 2.5 Ghz (Python)
53 Associate-3Ddet_v2 93.77 % 96.83 % 88.57 % 0.04 s 1 core @ 2.5 Ghz (Python)
54 Patches - EMP
This method makes use of Velodyne laser scans.
93.75 % 97.91 % 90.56 % 0.5 s GPU @ 2.5 Ghz (Python)
J. Lehner, A. Mitterecker, T. Adler, M. Hofmarcher, B. Nessler and S. Hochreiter: Patch Refinement: Localized 3D Object Detection. arXiv preprint arXiv:1910.04093 2019.
55 CIA-SSD
This method makes use of Velodyne laser scans.
93.72 % 96.87 % 86.20 % 0.03 s 1 core @ 2.5 Ghz (Python + C/C++)
56 VAL 93.71 % 96.92 % 83.76 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
57 XView-PartA^2 93.71 % 95.42 % 91.26 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
58 HRI-ADLab-HZ 93.69 % 96.70 % 88.66 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
59 deprecated 93.68 % 96.92 % 86.15 % deprecated deprecated
60 Noah CV Lab - SSL 93.65 % 94.02 % 86.02 % 0.1 s GPU @ 2.5 Ghz (Python)
61 TBD 93.64 % 95.31 % 91.21 % 0.07 s 1 core @ 2.5 Ghz (Python + C/C++)
62 CBi-GNN 93.60 % 98.89 % 88.47 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
63 MVX-Net++ 93.58 % 96.41 % 88.51 % 0.15 s 1 core @ 2.5 Ghz (C/C++)
64 MonoPair 93.55 % 96.61 % 83.55 % 0.06 s GPU @ 2.5 Ghz (Python + C/C++)
Y. Chen, L. Tai, K. Sun and M. Li: MonoPair: Monocular 3D Object Detection Using Pairwise Spatial Relationships. The IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2020.
65 EBM3DOD 93.54 % 96.81 % 88.33 % 0.08 s 1 core @ 2.5 Ghz (Python)
66 CM3DV 93.53 % 96.79 % 88.35 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
67 CIA-SSD v2
This method makes use of Velodyne laser scans.
93.52 % 96.63 % 88.21 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
68 Deep MANTA 93.50 % 98.89 % 83.21 % 0.7 s GPU @ 2.5 Ghz (Python + C/C++)
F. Chabot, M. Chaouch, J. Rabarisoa, C. Teulière and T. Chateau: Deep MANTA: A Coarse-to-fine Many-Task Network for joint 2D and 3D vehicle analysis from monocular image. CVPR 2017.
69 Point-GNN
This method makes use of Velodyne laser scans.
code 93.50 % 96.58 % 88.35 % 0.6 s GPU @ 2.5 Ghz (Python)
W. Shi and R. Rajkumar: Point-GNN: Graph Neural Network for 3D Object Detection in a Point Cloud. CVPR 2020.
70 PP-3D 93.50 % 96.58 % 88.35 % 0.1 s 1 core @ 2.5 Ghz (Python)
71 FCY
This method makes use of Velodyne laser scans.
93.49 % 96.74 % 88.39 % 0.02 s GPU @ 2.5 Ghz (Python)
72 LZnet 93.49 % 96.74 % 88.10 % 0.08 s 1 core @ 2.5 Ghz (Python + C/C++)
73 CJJ 93.48 % 96.68 % 90.63 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
74 AIMC-RUC 93.47 % 96.75 % 88.35 % 0.08 s 1 core @ 2.5 Ghz (C/C++)
75 PointRes
This method makes use of Velodyne laser scans.
93.47 % 96.69 % 90.46 % 0.013 s 1 core @ 2.5 Ghz (Python + C/C++)
76 dgist_multiDetNet 93.46 % 94.99 % 85.46 % 0.08 s GPU Titanx Pascal (Python)
77 scssd-normal(0.3) 93.45 % 96.72 % 88.31 % 0.05 s GPU @ 2.5 Ghz (Python)
P. An, J. Liang, J. Ma, K. Yu and B. Fang: SCSSD for multi sensor fusion 3d object detection method. Submitted to Information Science 2020.
78 EBM3DOD baseline 93.45 % 96.72 % 88.25 % 0.08 s 1 core @ 2.5 Ghz (Python)
79 Cas-SSD 93.41 % 96.73 % 88.30 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
80 RRC code 93.40 % 95.68 % 87.37 % 3.6 s GPU @ 2.5 Ghz (C/C++)
J. Ren, X. Chen, J. Liu, W. Sun, J. Pang, Q. Yan, Y. Tai and L. Xu: Accurate Single Stage Detector Using Recurrent Rolling Convolution. CVPR 2017.
81 DGIST MT-CNN 93.39 % 95.16 % 85.50 % 0.09 s GPU @ 1.0 Ghz (Python)
82 KNN-GCNN 93.39 % 96.19 % 88.17 % 0.4 s 1 core @ 2.5 Ghz (Python + C/C++)
83 F-3DNet 93.38 % 96.51 % 88.32 % 0.5 s GPU @ 2.5 Ghz (Python)
84 HR-Cascade-RCNN 93.37 % 95.74 % 87.44 % 0.3 s 1 core @ 2.5 Ghz (C/C++)
85 3D-CVF at SPA
This method makes use of Velodyne laser scans.
93.36 % 96.78 % 86.11 % 0.06 s 1 core @ 2.5 Ghz (C/C++)
J. Yoo, Y. Kim, J. Kim and J. Choi: 3D-CVF: Generating Joint Camera and LiDAR Features Using Cross-View Spatial Feature Fusion for 3D Object Detection. ECCV 2020.
86 ISF 93.36 % 96.64 % 90.52 % 0.05 s 1 core @ 2.5 Ghz (C/C++)
87 FLID 93.35 % 95.90 % 85.69 % 0.04 s GPU @ 2.5 Ghz (Python)
88 ISF-v2 93.34 % 96.73 % 90.54 % 0.04 s 1 core @ 2.5 Ghz (Python)
89 scssd-normal(0.4) 93.31 % 96.59 % 88.23 % 0.05 s 1 core @ 2.5 Ghz (Python)
P. An, J. Liang, J. Ma, K. Yu and B. Fang: SCSSD for multi sensor fusion 3d object detection method. Submitted to Information Science 2020.
90 STD code 93.22 % 96.14 % 90.53 % 0.08 s GPU @ 2.5 Ghz (Python + C/C++)
Z. Yang, Y. Sun, S. Liu, X. Shen and J. Jia: STD: Sparse-to-Dense 3D Object Detector for Point Cloud. ICCV 2019.
91 SARPNET 93.21 % 96.07 % 88.09 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
Y. Ye, H. Chen, C. Zhang, X. Hao and Z. Zhang: SARPNET: Shape Attention Regional Proposal Network for LiDAR-based 3D Object Detection. Neurocomputing 2019.
92 RoIFusion code 93.19 % 96.29 % 88.14 % 0.22 s 1 core @ 3.0 Ghz (Python)
93 Fast Point R-CNN
This method makes use of Velodyne laser scans.
93.18 % 96.13 % 87.68 % 0.06 s GPU @ 2.5 Ghz (Python + C/C++)
Y. Chen, S. Liu, X. Shen and J. Jia: Fast Point R-CNN. Proceedings of the IEEE international conference on computer vision (ICCV) 2019.
94 sensekitti code 93.17 % 94.79 % 84.38 % 4.5 s GPU @ 2.5 Ghz (Python + C/C++)
B. Yang, J. Yan, Z. Lei and S. Li: Craft Objects from Images. CVPR 2016.
95 RethinkDet3D 93.14 % 96.16 % 88.17 % 0.15 s 1 core @ 2.5 Ghz (Python)
96 Discrete-PointDet 93.14 % 96.36 % 87.82 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
97 SJTU-HW 93.11 % 96.30 % 82.21 % 0.85s GPU @ 1.5 Ghz (Python + C/C++)
S. Zhang, X. Zhao, L. Fang, F. Haiping and S. Haitao: LED: LOCALIZATION-QUALITY ESTIMATION EMBEDDED DETECTOR. IEEE International Conference on Image Processing 2018.
L. Fang, X. Zhao and S. Zhang: Small-objectness sensitive detection based on shifted single shot detector. Multimedia Tools and Applications 2018.
98 BLPNet_V2 93.11 % 96.07 % 88.06 % 0.04 s 1 core @ 2.5 Ghz (Python)
99 PVF-NET 93.08 % 96.03 % 88.04 % 0.1 s 1 core @ 2.5 Ghz (Python)
100 HVPR 93.04 % 95.91 % 87.88 % 0.02 s GPU @ 2.5 Ghz (Python)
101 SerialR-FCN+SG-NMS 93.03 % 95.81 % 83.00 % 0.2 s 1 core @ 2.5 Ghz (Python)
102 NLK-ALL code 92.98 % 95.73 % 88.13 % 0.04 s 1 core @ 2.5 Ghz (Python + C/C++)
103 CLOCs_SecCas 92.95 % 95.43 % 89.21 % 0.1 s 1 core @ 2.5 Ghz (Python)
S. Pang, D. Morris and H. Radha: CLOCs: Camera-LiDAR Object Candidates Fusion for 3D Object Detection. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2020.
104 cvMax 92.84 % 96.14 % 87.87 % 0.04 s GPU @ >3.5 Ghz (Python)
105 TBD 92.82 % 96.06 % 88.00 % 0.04 s 1 core @ 2.5 Ghz (Python + C/C++)
106 HotSpotNet 92.81 % 96.21 % 89.80 % 0.04 s 1 core @ 2.5 Ghz (Python + C/C++)
Q. Chen, L. Sun, Z. Wang, K. Jia and A. Yuille: object as hotspots. Proceedings of the European Conference on Computer Vision (ECCV) 2020.
107 deprecated 92.79 % 95.56 % 91.62 % 0.06 s 1 core @ 2.5 Ghz (C/C++)
108 deprecated 92.79 % 96.12 % 87.78 % 0.04 s GPU @ 2.5 Ghz (Python)
109 PointCSE 92.78 % 95.99 % 87.66 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
110 IGRP 92.78 % 96.28 % 87.81 % 0.18 s 1 core @ 2.5 Ghz (Python + C/C++)
111 Mono3CN 92.76 % 95.51 % 84.80 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
112 MuRF 92.74 % 95.74 % 87.64 % 0.05 s GPU @ 1.5 Ghz (Python + C/C++)
113 SegVoxelNet 92.73 % 96.00 % 87.60 % 0.04 s 1 core @ 2.5 Ghz (Python)
H. Yi, S. Shi, M. Ding, J. Sun, K. Xu, H. Zhou, Z. Wang, S. Li and G. Wang: SegVoxelNet: Exploring Semantic Context and Depth-aware Features for 3D Vehicle Detection from Point Cloud. ICRA 2020.
114 Patches
This method makes use of Velodyne laser scans.
92.72 % 96.34 % 87.63 % 0.15 s GPU @ 2.0 Ghz
J. Lehner, A. Mitterecker, T. Adler, M. Hofmarcher, B. Nessler and S. Hochreiter: Patch Refinement: Localized 3D Object Detection. arXiv preprint arXiv:1910.04093 2019.
115 CenterNet3D 92.69 % 95.76 % 89.81 % 0.04 s GPU @ 1.5 Ghz (Python)
G. Wang, B. Tian, Y. Ai, T. Xu, L. Chen and D. Cao: CenterNet3D:An Anchor free Object Detector for Autonomous Driving. 2020.
116 Chovy 92.69 % 96.06 % 89.74 % 0.04 s GPU @ 2.5 Ghz (Python)
117 R-GCN 92.67 % 96.19 % 87.66 % 0.16 s GPU @ 2.5 Ghz (Python)
J. Zarzar, S. Giancola and B. Ghanem: PointRGCN: Graph Convolution Networks for 3D Vehicles Detection Refinement. ArXiv 2019.
118 NLK-3D 92.67 % 95.44 % 87.72 % 0.04 s 1 core @ 2.5 Ghz (Python + C/C++)
119 PI-RCNN 92.66 % 96.17 % 87.68 % 0.1 s 1 core @ 2.5 Ghz (Python)
L. Xie, C. Xiang, Z. Yu, G. Xu, Z. Yang, D. Cai and X. He: PI-RCNN: An Efficient Multi-sensor 3D Object Detector with Point-based Attentive Cont-conv Fusion Module. AAAI 2020 : The Thirty-Fourth AAAI Conference on Artificial Intelligence 2020.
120 PointPainting
This method makes use of Velodyne laser scans.
92.58 % 98.39 % 89.71 % 0.4 s GPU @ 2.5 Ghz (Python + C/C++)
S. Vora, A. Lang, B. Helou and O. Beijbom: PointPainting: Sequential Fusion for 3D Object Detection. CVPR 2020.
121 VICNet 92.56 % 95.56 % 87.40 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
122 DASS 92.53 % 96.23 % 87.75 % 0.09 s 1 core @ 2.0 Ghz (Python)
O. Unal, L. Gool and D. Dai: Improving Point Cloud Semantic Segmentation by Learning 3D Object Detection. 2020.
123 3D IoU-Net 92.47 % 96.31 % 87.67 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
J. Li, S. Luo, Z. Zhu, H. Dai, S. Krylov, Y. Ding and L. Shao: 3D IoU-Net: IoU Guided 3D Object Detector for Point Clouds. arXiv preprint arXiv:2004.04962 2020.
124 PPBA 92.46 % 95.22 % 87.53 % NA s GPU @ 2.5 Ghz (Python)
125 TBU 92.46 % 95.22 % 87.53 % NA s GPU @ 2.5 Ghz (Python)
126 VAR 92.46 % 95.11 % 89.68 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
127 Associate-3Ddet code 92.45 % 95.61 % 87.32 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
L. Du, X. Ye, X. Tan, J. Feng, Z. Xu, E. Ding and S. Wen: Associate-3Ddet: Perceptual-to-Conceptual Association for 3D Point Cloud Object Detection. The IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2020.
128 Dccnet 92.34 % 96.00 % 86.85 % 0.05 s 1 core @ 2.5 Ghz (C/C++)
129 PointRGCN 92.33 % 97.51 % 87.07 % 0.26 s GPU @ V100 (Python)
J. Zarzar, S. Giancola and B. Ghanem: PointRGCN: Graph Convolution Networks for 3D Vehicles Detection Refinement. ArXiv 2019.
130 LZY_RCNN 92.28 % 93.58 % 89.76 % 0.08 s 1 core @ 2.5 Ghz (C/C++)
131 CCFNET 92.25 % 95.85 % 89.36 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
132 F-ConvNet
This method makes use of Velodyne laser scans.
code 92.19 % 95.85 % 80.09 % 0.47 s GPU @ 2.5 Ghz (Python + C/C++)
Z. Wang and K. Jia: Frustum ConvNet: Sliding Frustums to Aggregate Local Point-Wise Features for Amodal 3D Object Detection. IROS 2019.
133 MDA 92.17 % 94.88 % 89.54 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
134 PFF3D
This method makes use of Velodyne laser scans.
92.15 % 95.37 % 87.54 % 0.05 s GPU @ 3.0 Ghz (Python + C/C++)
135 yolo4 92.13 % 94.20 % 79.89 % 0.02 s 1 core @ 2.5 Ghz (Python)
136 TBD 92.12 % 93.48 % 89.56 % 0.05 s GPU @ 2.5 Ghz (Python)
137 PVNet 92.12 % 94.84 % 89.27 % 0,1 s 1 core @ 2.5 Ghz (Python)
138 PBASN code 92.07 % 95.51 % 87.04 % NA s GPU @ 2.5 Ghz (Python)
139 SDP+RPN 92.03 % 95.16 % 79.16 % 0.4 s GPU @ 2.5 Ghz (Python + C/C++)
F. Yang, W. Choi and Y. Lin: Exploit All the Layers: Fast and Accurate CNN Object Detector with Scale Dependent Pooling and Cascaded Rejection Classifiers. Proceedings of the IEEE International Conference on Computer Vision and Pattern Recognition 2016.
S. Ren, K. He, R. Girshick and J. Sun: Faster R-CNN: Towards real-time object detection with region proposal networks. Advances in Neural Information Processing Systems 2015.
140 AB3DMOT
This method makes use of Velodyne laser scans.
This is an online method (no batch processing).
code 92.00 % 95.88 % 86.98 % 0.0047s 1 core @ 2.5 Ghz (Python)
X. Weng and K. Kitani: A Baseline for 3D Multi-Object Tracking. arXiv:1907.03961 2019.
141 DPointNet 92.00 % 95.01 % 86.86 % 0.09 s 1 core @ 2.5 Ghz (C/C++)
142 MMLab-PointRCNN
This method makes use of Velodyne laser scans.
code 91.90 % 95.92 % 87.11 % 0.1 s GPU @ 2.5 Ghz (Python + C/C++)
S. Shi, X. Wang and H. Li: Pointrcnn: 3d object proposal generation and detection from point cloud. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition 2019.
143 MMLab-PartA^2
This method makes use of Velodyne laser scans.
code 91.86 % 95.03 % 89.06 % 0.08 s GPU @ 2.5 Ghz (Python + C/C++)
S. Shi, Z. Wang, J. Shi, X. Wang and H. Li: From Points to Parts: 3D Object Detection from Point Cloud with Part-aware and Part-aggregation Network. IEEE Transactions on Pattern Analysis and Machine Intelligence 2020.
144 Pointpillar_TV 91.82 % 94.82 % 88.57 % 0.05 s 1 core @ 2.5 Ghz (C/C++)
145 epBRM
This method makes use of Velodyne laser scans.
code 91.77 % 94.59 % 88.45 % 0.1 s GPU @ >3.5 Ghz (Python + C/C++)
K. Shin: Improving a Quality of 3D Object Detection by Spatial Transformation Mechanism. arXiv preprint arXiv:1910.04853 2019.
146 3DBN_2 91.75 % 95.34 % 89.12 % 0.12 s 1 core @ 2.5 Ghz (C/C++)
ERROR: Wrong syntax in BIBTEX file.
147 C-GCN 91.73 % 95.64 % 86.37 % 0.147 s GPU @ V100 (Python)
J. Zarzar, S. Giancola and B. Ghanem: PointRGCN: Graph Convolution Networks for 3D Vehicles Detection Refinement. ArXiv 2019.
148 ITVD code 91.73 % 95.85 % 79.31 % 0.3 s GPU @ 2.5 Ghz (C/C++)
Y. Wei Liu: Improving Tiny Vehicle Detection in Complex Scenes. IEEE International Conference on Multimedia and Expo (ICME) 2018.
149 yolo4_5l 91.71 % 93.35 % 79.49 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
150 SINet+ code 91.67 % 94.17 % 78.60 % 0.3 s TITAN X GPU
X. Hu, X. Xu, Y. Xiao, H. Chen, S. He, J. Qin and P. Heng: SINet: A Scale-insensitive Convolutional Neural Network for Fast Vehicle Detection. IEEE Transactions on Intelligent Transportation Systems 2019.
151 VOXEL_3D 91.61 % 94.50 % 86.37 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
152 Faster RCNN + A 91.60 % 94.77 % 81.43 % 0.19 s GPU @ 2.5 Ghz (Python + C/C++)
153 Cascade MS-CNN code 91.60 % 94.26 % 78.84 % 0.25 s GPU @ 2.5 Ghz (C/C++)
Z. Cai and N. Vasconcelos: Cascade R-CNN: High Quality Object Detection and Instance Segmentation. arXiv preprint arXiv:1906.09756 2019.
Z. Cai, Q. Fan, R. Feris and N. Vasconcelos: A unified multi-scale deep convolutional neural network for fast object detection. European conference on computer vision 2016.
154 tt code 91.59 % 95.15 % 88.72 % 0.08 s 1 core @ 2.5 Ghz (C/C++)
155 PKRCNN 91.54 % 95.32 % 89.02 % 0.01s 1 core @ 2.5 Ghz (Python)
ERROR: Wrong syntax in BIBTEX file.
156 V3D 91.52 % 94.46 % 86.34 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
157 GA-Aug 91.46 % 94.55 % 84.85 % 0.04 s GPU @ 2.5 Ghz (Python)
158 MAFF-Net(DAF-Pillar) 91.46 % 94.38 % 83.89 % 0.04 s 1 core @ 2.5 Ghz (Python + C/C++)
Z. Zhang, Z. Liang, M. Zhang, X. Zhao, Y. Ming, T. Wenming and S. Pu: MAFF-Net: Filter False Positive for 3D Vehicle Detection with Multi-modal Adaptive Feature Fusion. arXiv preprint arXiv:2009.10945 2020.
159 HRI-VoxelFPN 91.44 % 96.65 % 86.18 % 0.02 s GPU @ 2.5 Ghz (Python + C/C++)
H. Kuang, B. Wang, J. An, M. Zhang and Z. Zhang: Voxel-FPN:multi-scale voxel feature aggregation in 3D object detection from point clouds. sensors 2020.
160 CU-PointRCNN 91.34 % 97.25 % 86.98 % 0.1 s GPU @ 1.5 Ghz (Python + C/C++)
161 deprecated 91.31 % 96.90 % 83.91 % 0.06 s GPU @ >3.5 Ghz (Python)
162 SC(DLA34+DCO)
This method uses stereo information.
91.27 % 96.61 % 83.50 % 0.07 s GPU @ 2.5 Ghz (Python)
163 Faster RCNN + Gr + A 91.25 % 94.09 % 81.25 % 1.29 s GPU @ 2.5 Ghz (Python)
164 CentrNet-FG 91.21 % 94.05 % 88.45 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
165 GAA 91.20 % 94.50 % 82.97 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
ERROR: Wrong syntax in BIBTEX file.
166 PointPillars
This method makes use of Velodyne laser scans.
code 91.19 % 94.00 % 88.17 % 16 ms 1080ti GPU and Intel i7 CPU
A. Lang, S. Vora, H. Caesar, L. Zhou, J. Yang and O. Beijbom: PointPillars: Fast Encoders for Object Detection from Point Clouds. CVPR 2019.
167 LTN 91.18 % 94.68 % 81.51 % 0.4 s GPU @ >3.5 Ghz (Python)
T. Wang, X. He, Y. Cai and G. Xiao: Learning a Layout Transfer Network for Context Aware Object Detection. IEEE Transactions on Intelligent Transportation Systems 2019.
168 autonet 91.17 % 93.70 % 88.10 % 0.12 s 1 core @ 2.5 Ghz (C/C++)
169 WS3D
This method makes use of Velodyne laser scans.
91.15 % 95.13 % 86.52 % 0.1 s GPU @ 2.5 Ghz (Python)
Q. Meng, W. Wang, T. Zhou, J. Shen, L. Van Gool and D. Dai: Weakly Supervised 3D Object Detection from Lidar Point Cloud. 2020.
170 PointPiallars_SECA 91.12 % 93.66 % 87.94 % 0.06 s 1 core @ 2.5 Ghz (C/C++)
171 EPENet 91.11 % 94.31 % 88.02 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
172 anonymous 91.08 % 96.57 % 82.86 % 1 s 1 core @ 2.5 Ghz (C/C++)
173 SSL-RTM3D 91.07 % 96.44 % 81.19 % 0.03 s 1 core @ 2.5 Ghz (Python)
174 FII-CenterNet 91.03 % 94.48 % 83.00 % 0.09 s GPU @ 2.5 Ghz (Python)
175 Aston-EAS 91.02 % 93.91 % 77.93 % 0.24 s GPU @ 2.5 Ghz (Python + C/C++)
J. Wei, J. He, Y. Zhou, K. Chen, Z. Tang and Z. Xiong: Enhanced Object Detection With Deep Convolutional Neural Networks for Advanced Driving Assistance. IEEE Transactions on Intelligent Transportation Systems 2019.
176 MonoFlex 91.02 % 96.01 % 83.38 % 0.03 s GPU @ 2.5 Ghz (Python)
177 ARPNET 90.99 % 94.00 % 83.49 % 0.08 s GPU @ 2.5 Ghz (Python + C/C++)
Y. Ye, C. Zhang and X. Hao: ARPNET: attention region proposal network for 3D object detection. Science China Information Sciences 2019.
178 Bit 90.96 % 93.84 % 87.47 % 0.11 s 1 core @ 2.5 Ghz (C/C++)
179 JSU-NET 90.90 % 96.41 % 80.67 % 0.1 s 1 core @ 2.5 Ghz (Python)
180 GAFM 90.90 % 96.46 % 80.70 % 0.5 s 1 core @ 2.5 Ghz (Python)
181 MonoEF code 90.88 % 96.32 % 83.27 % 0.03 s 1 core @ 2.5 Ghz (Python)
182 PatchNet code 90.87 % 93.82 % 79.62 % 0.4 s 1 core @ 2.5 Ghz (C/C++)
X. Ma, S. Liu, Z. Xia, H. Zhang, X. Zeng and W. Ouyang: Rethinking Pseudo-LiDAR Representation. Proceedings of the European Conference on Computer Vision (ECCV) 2020.
183 GA_BALANCE 90.86 % 96.19 % 78.40 % 1 s 1 core @ 2.5 Ghz (Python)
184 MV3D
This method makes use of Velodyne laser scans.
90.83 % 96.47 % 78.63 % 0.36 s GPU @ 2.5 Ghz (Python + C/C++)
X. Chen, H. Ma, J. Wan, B. Li and T. Xia: Multi-View 3D Object Detection Network for Autonomous Driving. CVPR 2017.
185 DLE 90.81 % 93.83 % 80.93 % 0.04 s GPU @ 2.5 Ghz (Python)
186 3D IoU Loss
This method makes use of Velodyne laser scans.
90.79 % 95.92 % 85.65 % 0.08 s GPU @ 2.5 Ghz (Python + C/C++)
D. Zhou, J. Fang, X. Song, C. Guan, J. Yin, Y. Dai and R. Yang: IoU Loss for 2D/3D Object Detection. International Conference on 3D Vision (3DV) 2019.
187 SINet_VGG code 90.79 % 93.59 % 77.53 % 0.2 s TITAN X GPU
X. Hu, X. Xu, Y. Xiao, H. Chen, S. He, J. Qin and P. Heng: SINet: A Scale-insensitive Convolutional Neural Network for Fast Vehicle Detection. IEEE Transactions on Intelligent Transportation Systems 2019.
188 GA_FULLDATA 90.73 % 96.31 % 78.22 % 1 s 4 cores @ 2.5 Ghz (Python)
189 OCM3D 90.70 % 94.36 % 84.56 % 0.5 s 1 core @ 2.5 Ghz (C/C++)
190 Simple3D Net 90.70 % 93.54 % 87.81 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
191 TANet code 90.67 % 93.67 % 85.31 % 0.035s GPU @ 2.5 Ghz (Python + C/C++)
Z. Liu, X. Zhao, T. Huang, R. Hu, Y. Zhou and X. Bai: TANet: Robust 3D Object Detection from Point Clouds with Triple Attention. AAAI 2020.
192 yolo4 90.63 % 94.71 % 80.38 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
193 baseline 90.59 % 93.29 % 87.18 % 0.12 s 1 core @ 2.5 Ghz (C/C++)
194 Det3D 90.54 % 94.35 % 84.40 % 0.5 s 1 core @ 2.5 Ghz (C/C++)
195 FADNet code 90.49 % 96.15 % 80.71 % 0.04 s GPU @ >3.5 Ghz (Python)
196 IGRP+ 90.42 % 96.03 % 87.63 % 0.18 s 1 core @ 2.5 Ghz (Python + C/C++)
197 CG-Stereo
This method uses stereo information.
90.38 % 96.31 % 82.80 % 0.57 s GeForce RTX 2080 Ti
C. Li, J. Ku and S. Waslander: Confidence Guided Stereo 3D Object Detection with Split Depth Estimation. IROS 2020.
198 yolo4_5l code 90.38 % 91.79 % 80.64 % 0.02 s 1 core @ 2.5 Ghz (Python + C/C++)
199 SCNet
This method makes use of Velodyne laser scans.
90.30 % 95.59 % 85.09 % 0.04 s GPU @ 3.0 Ghz (Python)
Z. Wang, H. Fu, L. Wang, L. Xiao and B. Dai: SCNet: Subdivision Coding Network for Object Detection Based on 3D Point Cloud. IEEE Access 2019.
200 RUC code 90.24 % 92.60 % 86.55 % 0.12 s 1 core @ 2.5 Ghz (C/C++)
201 APL-Second 90.20 % 93.20 % 82.95 % 0.05 s 1 core @ 2.5 Ghz (Python)
202 Deep3DBox 90.19 % 94.71 % 76.82 % 1.5 s GPU @ 2.5 Ghz (C/C++)
A. Mousavian, D. Anguelov, J. Flynn and J. Kosecka: 3D Bounding Box Estimation Using Deep Learning and Geometry. CVPR 2017.
203 FQNet 90.17 % 94.72 % 76.78 % 0.5 s 1 core @ 2.5 Ghz (Python)
L. Liu, J. Lu, C. Xu, Q. Tian and J. Zhou: Deep Fitting Degree Scoring Network for Monocular 3D Object Detection. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition 2019.
204 DeepStereoOP 90.06 % 95.15 % 79.91 % 3.4 s GPU @ 3.5 Ghz (Matlab + C/C++)
C. Pham and J. Jeon: Robust Object Proposals Re-ranking for Object Detection in Autonomous Driving Using Convolutional Neural Networks. Signal Processing: Image Communiation 2017.
205 SubCNN 89.98 % 94.26 % 79.78 % 2 s GPU @ 3.5 Ghz (Python + C/C++)
Y. Xiang, W. Choi, Y. Lin and S. Savarese: Subcategory-aware Convolutional Neural Networks for Object Proposals and Detection. IEEE Winter Conference on Applications of Computer Vision (WACV) 2017.
206 MLOD
This method makes use of Velodyne laser scans.
code 89.97 % 94.88 % 84.98 % 0.12 s GPU @ 1.5 Ghz (Python)
J. Deng and K. Czarnecki: MLOD: A multi-view 3D object detection based on robust feature fusion method. arXiv preprint arXiv:1909.04163 2019.
207 GPP code 89.96 % 94.02 % 81.13 % 0.23 s GPU @ 1.5 Ghz (Python + C/C++)
A. Rangesh and M. Trivedi: Ground plane polling for 6dof pose estimation of objects on the road. arXiv preprint arXiv:1811.06666 2018.
208 RUC code 89.93 % 93.12 % 85.44 % 0.12 s 1 core @ 2.5 Ghz (C/C++)
209 AVOD
This method makes use of Velodyne laser scans.
code 89.88 % 95.17 % 82.83 % 0.08 s Titan X (pascal)
J. Ku, M. Mozifian, J. Lee, A. Harakeh and S. Waslander: Joint 3D Proposal Generation and Object Detection from View Aggregation. IROS 2018.
210 SINet_PVA code 89.86 % 92.72 % 76.47 % 0.11 s TITAN X GPU
X. Hu, X. Xu, Y. Xiao, H. Chen, S. He, J. Qin and P. Heng: SINet: A Scale-insensitive Convolutional Neural Network for Fast Vehicle Detection. IEEE Transactions on Intelligent Transportation Systems 2019.
211 MCA 89.72 % 93.42 % 79.96 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
212 UDI-mono3D 89.67 % 94.39 % 80.29 % 0.05 s 1 core @ 2.5 Ghz (Python)
213 3DOP
This method uses stereo information.
code 89.55 % 92.96 % 79.38 % 3s GPU @ 2.5 Ghz (Matlab + C/C++)
X. Chen, K. Kundu, Y. Zhu, A. Berneshawi, H. Ma, S. Fidler and R. Urtasun: 3D Object Proposals for Accurate Object Class Detection. NIPS 2015.
214 IAFA 89.46 % 93.08 % 79.83 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
215 Mono3D code 89.37 % 94.52 % 79.15 % 4.2 s GPU @ 2.5 Ghz (Matlab + C/C++)
X. Chen, K. Kundu, Z. Zhang, H. Ma, S. Fidler and R. Urtasun: Monocular 3D Object Detection for Autonomous Driving. CVPR 2016.
216 4d-MSCNN
This method uses stereo information.
code 89.37 % 92.40 % 77.00 % 0.3 min GPU @ 3.0 Ghz (Matlab + C/C++)
P. Ferraz, B. Oliveira, F. Ferreira, C. Silva Martins and others: Three-stage RGBD architecture for vehicle and pedestrian detection using convolutional neural networks and stereo vision. IET Intelligent Transport Systems 2020.
217 R-FCN(FPN) 89.35 % 93.53 % 79.35 % 0.2 s 1 core @ 2.5 Ghz (Python)
218 Scan_YOLO 88.95 % 90.69 % 79.85 % 0.1 s 4 cores @ 3.0 Ghz (Python)
219 AVOD-FPN
This method makes use of Velodyne laser scans.
code 88.92 % 94.70 % 84.13 % 0.1 s Titan X (Pascal)
J. Ku, M. Mozifian, J. Lee, A. Harakeh and S. Waslander: Joint 3D Proposal Generation and Object Detection from View Aggregation. IROS 2018.
220 autoRUC 88.88 % 94.23 % 81.35 % 0.12 s 1 core @ 2.5 Ghz (C/C++)
221 Prune 88.85 % 94.20 % 81.31 % 0.11 s 1 core @ 2.5 Ghz (C/C++)
222 AM3D 88.71 % 92.55 % 77.78 % 0.4 s GPU @ 2.5 Ghz (Python + C/C++)
X. Ma, Z. Wang, H. Li, P. Zhang, W. Ouyang and X. Fan: Accurate Monocular Object Detection via Color- Embedded 3D Reconstruction for Autonomous Driving. Proceedings of the IEEE international Conference on Computer Vision (ICCV) 2019.
223 EACV 88.70 % 94.51 % 81.15 % 0.04 s 1 core @ 2.5 Ghz (Python + C/C++)
224 MS-CNN code 88.68 % 93.87 % 76.11 % 0.4 s GPU @ 2.5 Ghz (C/C++)
Z. Cai, Q. Fan, R. Feris and N. Vasconcelos: A Unified Multi-scale Deep Convolutional Neural Network for Fast Object Detection. ECCV 2016.
225 PMN 88.65 % 93.64 % 77.94 % 0.2 s 1 core @ 2.5 Ghz (Python)
226 MonoPSR code 88.50 % 93.63 % 73.36 % 0.2 s GPU @ 3.5 Ghz (Python)
J. Ku*, A. Pon* and S. Waslander: Monocular 3D Object Detection Leveraging Accurate Proposals and Shape Reconstruction. CVPR 2019.
227 BFF 88.49 % 90.84 % 78.84 % 8.4 s 4 cores @ 1.5 Ghz (Python)
228 Shift R-CNN (mono) code 88.48 % 94.07 % 78.34 % 0.25 s GPU @ 1.5 Ghz (Python)
A. Naiden, V. Paunescu, G. Kim, B. Jeon and M. Leordeanu: Shift R-CNN: Deep Monocular 3D Object Detection With Closed-form Geometric Constraints. ICIP 2019.
229 PSMD 88.47 % 93.67 % 75.62 % 0.1 s GPU @ 2.5 Ghz (Python)
230 RCD 88.46 % 92.52 % 83.73 % 0.1 s GPU @ 2.5 Ghz (Python)
A. Bewley, P. Sun, T. Mensink, D. Anguelov and C. Sminchisescu: Range Conditioned Dilated Convolutions for Scale Invariant 3D Object Detection. Conference on Robot Learning (CoRL) 2020.
231 MM-MRFC
This method uses optical flow information.
This method makes use of Velodyne laser scans.
88.46 % 95.54 % 78.14 % 0.05 s GPU @ 2.5 Ghz (C/C++)
A. Costea, R. Varga and S. Nedevschi: Fast Boosting based Detection using Scale Invariant Multimodal Multiresolution Filtered Features. CVPR 2017.
232 AACL 88.35 % 93.56 % 73.57 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
233 3DBN
This method makes use of Velodyne laser scans.
88.29 % 93.74 % 80.74 % 0.13s 1080Ti (Python+C/C++)
X. Li, J. Guivant, N. Kwok and Y. Xu: 3D Backbone Network for 3D Object Detection. CoRR 2019.
234 UDI-mono3D 88.16 % 93.93 % 79.57 % 0.05 s 1 core @ 2.5 Ghz (Python)
235 anonymous 88.16 % 96.22 % 75.72 % 1 s 1 core @ 2.5 Ghz (C/C++)
236 tiny-stereo-v1
This method uses stereo information.
88.00 % 96.14 % 80.59 % 0.3 s GPU @ 2.5 Ghz (Python + C/C++)
237 CDI3D 87.97 % 91.46 % 80.14 % 0.03 s GPU @ 2.5 Ghz (Python)
238 MonoRUn 87.91 % 95.48 % 78.10 % 0.07 s GPU @ 2.5 Ghz (Python + C/C++)
239 Multi-task DG 87.72 % 95.50 % 75.51 % 0.06 s GPU @ 2.5 Ghz (Python)
240 Object Transformer 87.67 % 93.33 % 79.98 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
241 MMCOM 87.58 % 95.08 % 77.48 % 0.04 s 1 core @ 2.5 Ghz (Python)
242 SMOKE code 87.51 % 93.21 % 77.66 % 0.03 s GPU @ 2.5 Ghz (Python)
Z. Liu, Z. Wu and R. Tóth: SMOKE: Single-Stage Monocular 3D Object Detection via Keypoint Estimation. 2020.
243 tiny-stereo-v2
This method uses stereo information.
87.46 % 96.16 % 80.12 % 0.4 s 1 core @ 2.5 Ghz (Python + C/C++)
244 DAMNET code 87.39 % 92.48 % 82.41 % 1 s 1 core @ 2.5 Ghz (C/C++)
245 MA 87.29 % 93.21 % 79.82 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
246 CDN
This method uses stereo information.
87.19 % 95.85 % 79.43 % 0.6 s GPU @ 2.5 Ghz (Python)
D. Garg, Y. Wang, B. Hariharan, M. Campbell, K. Weinberger and W. Chao: Wasserstein Distances for Stereo Disparity Estimation. Advances in Neural Information Processing Systems (NeurIPS) 2020.
247 IMA 87.17 % 92.67 % 77.46 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
248 RTM3D code 86.93 % 91.82 % 77.41 % 0.05 s GPU @ 1.0 Ghz (Python)
P. Li, H. Zhao, P. Liu and F. Cao: RTM3D: Real-time Monocular 3D Detection from Object Keypoints for Autonomous Driving. 2020.
249 yolo_rgb 86.90 % 90.01 % 77.52 % 0.07 s GPU @ 2.5 Ghz (Python)
250 NL_M3D 86.80 % 91.31 % 72.37 % 0.2 s 1 core @ 2.5 Ghz (Python)
251 voxelrcnn 86.69 % 94.60 % 79.91 % 15 s 1 core @ 2.5 Ghz (C/C++)
252 DSGN
This method uses stereo information.
code 86.43 % 95.53 % 78.75 % 0.67 s NVIDIA Tesla V100
Y. Chen, S. Liu, X. Shen and J. Jia: DSGN: Deep Stereo Geometry Network for 3D Object Detection. CVPR 2020.
253 OSE
This method uses stereo information.
86.21 % 95.64 % 76.83 % 0.1 s GPU @ 2.5 Ghz (C/C++)
254 Stereo R-CNN
This method uses stereo information.
code 85.98 % 93.98 % 71.25 % 0.3 s GPU @ 2.5 Ghz (Python)
P. Li, X. Chen and S. Shen: Stereo R-CNN based 3D Object Detection for Autonomous Driving. CVPR 2019.
255 StereoFENet
This method uses stereo information.
85.70 % 91.48 % 77.62 % 0.15 s 1 core @ 3.5 Ghz (Python)
W. Bao, B. Xu and Z. Chen: MonoFENet: Monocular 3D Object Detection with Feature Enhancement Networks. IEEE Transactions on Image Processing 2019.
256 ResNet-RRC_Car 85.33 % 91.45 % 74.27 % 0.06 s GPU @ 1.5 Ghz (Python + C/C++)
H. Jeon and others: High-Speed Car Detection Using ResNet- Based Recurrent Rolling Convolution. Proceedings of the IEEE conference on systems, man, and cybernetics 2018.
257 PL++ (SDN+GDC)
This method uses stereo information.
This method makes use of Velodyne laser scans.
code 85.15 % 94.95 % 77.78 % 0.6 s GPU @ 2.5 Ghz (C/C++)
Y. You, Y. Wang, W. Chao, D. Garg, G. Pleiss, B. Hariharan, M. Campbell and K. Weinberger: Pseudo-LiDAR++: Accurate Depth for 3D Object Detection in Autonomous Driving. International Conference on Learning Representations 2020.
258 RAR-Net 85.08 % 89.04 % 69.26 % 0.5 s 1 core @ 2.5 Ghz (C/C++)
259 M3D-RPN code 85.08 % 89.04 % 69.26 % 0.16 s GPU @ 1.5 Ghz (Python)
G. Brazil and X. Liu: M3D-RPN: Monocular 3D Region Proposal Network for Object Detection . ICCV 2019 .
260 Center3D 85.05 % 95.14 % 73.06 % 0.05 s GPU @ 3.5 Ghz (Python)
261 CDN-PL++
This method uses stereo information.
85.01 % 94.66 % 77.60 % 0.4 s GPU @ 2.5 Ghz (C/C++)
D. Garg, Y. Wang, B. Hariharan, M. Campbell, K. Weinberger and W. Chao: Wasserstein Distances for Stereo Disparity Estimation. arXiv preprint arXiv:2007.03085 2020.
262 SDP+CRC (ft) 85.00 % 92.06 % 71.71 % 0.6 s GPU @ 2.5 Ghz (C/C++)
F. Yang, W. Choi and Y. Lin: Exploit All the Layers: Fast and Accurate CNN Object Detector with Scale Dependent Pooling and Cascaded Rejection Classifiers. Proceedings of the IEEE International Conference on Computer Vision and Pattern Recognition 2016.
263 bifpn_fsrn 84.93 % 93.68 % 74.45 % 0.07 s 1 core @ 2.5 Ghz (Python + C/C++)
264 ResNet-RRC (pruned) 84.93 % 89.59 % 73.26 % 0.11 s GPU @ 1.5 Ghz (Python + C/C++)
265 IDA-3D
This method uses stereo information.
84.92 % 92.79 % 74.75 % 0.08 s 1 core @ 2.5 Ghz (Python + C/C++)
266 SS3D 84.92 % 92.72 % 70.35 % 48 ms Tesla V100 (Python)
E. Jörgensen, C. Zach and F. Kahl: Monocular 3D Object Detection and Box Fitting Trained End-to-End Using Intersection-over-Union Loss. CoRR 2019.
267 MP-Mono 84.83 % 91.58 % 65.89 % 0.16 s GPU @ 2.5 Ghz (Python)
268 ResNet-RRC 84.81 % 89.43 % 73.18 % 0.11 s GPU @ 1.5 Ghz (Python + C/C++)
269 MonoFENet 84.63 % 91.68 % 76.71 % 0.15 s 1 core @ 3.5 Ghz (Python)
W. Bao, B. Xu and Z. Chen: MonoFENet: Monocular 3D Object Detection with Feature Enhancement Networks. IEEE Transactions on Image Processing 2019.
270 MV3D (LIDAR)
This method makes use of Velodyne laser scans.
84.39 % 93.08 % 79.27 % 0.24 s GPU @ 2.5 Ghz (Python + C/C++)
X. Chen, H. Ma, J. Wan, B. Li and T. Xia: Multi-View 3D Object Detection Network for Autonomous Driving. CVPR 2017.
271 Complexer-YOLO
This method makes use of Velodyne laser scans.
84.16 % 91.92 % 79.62 % 0.06 s GPU @ 3.5 Ghz (C/C++)
M. Simon, K. Amende, A. Kraus, J. Honer, T. Samann, H. Kaulbersch, S. Milz and H. Michael Gross: Complexer-YOLO: Real-Time 3D Object Detection and Tracking on Semantic Point Clouds. The IEEE Conference on Computer Vision and Pattern Recognition (CVPR) Workshops 2019.
272 ZoomNet
This method uses stereo information.
code 83.92 % 94.22 % 69.00 % 0.3 s 1 core @ 2.5 Ghz (C/C++)
L. Z. Xu: ZoomNet: Part-Aware Adaptive Zooming Neural Network for 3D Object Detection. Proceedings of the AAAI Conference on Artificial Intelligence 2020.
273 LAPNet 83.85 % 90.81 % 65.37 % 0.03 s 1 core @ 2.5 Ghz (Python)
274 D4LCN code 83.67 % 90.34 % 65.33 % 0.2 s GPU @ 2.5 Ghz (Python + C/C++)
M. Ding, Y. Huo, H. Yi, Z. Wang, J. Shi, Z. Lu and P. Luo: Learning Depth-Guided Convolutions for Monocular 3D Object Detection. CVPR 2020.
275 seivl 83.60 % 90.35 % 81.76 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
276 ASOD 83.52 % 94.09 % 68.68 % 0.28 s GPU @ 2.5 Ghz (Python)
277 Deprecated 83.39 % 89.00 % 64.29 % Deprecated Deprecated
278 DAMono3D 83.36 % 88.94 % 64.23 % 0.09s 1 core @ 2.5 Ghz (C/C++)
279 Faster R-CNN code 83.16 % 88.97 % 72.62 % 2 s GPU @ 3.5 Ghz (Python + C/C++)
S. Ren, K. He, R. Girshick and J. Sun: Faster R-CNN: Towards Real- Time Object Detection with Region Proposal Networks. NIPS 2015.
280 Mag 83.15 % 94.24 % 70.63 % 0.07 s 1 core @ 2.5 Ghz (C/C++)
281 MTMono3d 83.11 % 90.55 % 75.48 % 0.05 s 1 core @ 2.5 Ghz (C/C++)
282 SSL-RTM3D Res18 82.97 % 93.35 % 73.11 % 0.02 s GPU @ 2.5 Ghz (Python)
283 Pseudo-LiDAR++
This method uses stereo information.
code 82.90 % 94.46 % 75.45 % 0.4 s GPU @ 2.5 Ghz (Python)
Y. You, Y. Wang, W. Chao, D. Garg, G. Pleiss, B. Hariharan, M. Campbell and K. Weinberger: Pseudo-LiDAR++: Accurate Depth for 3D Object Detection in Autonomous Driving. International Conference on Learning Representations 2020.
284 DP3D 82.81 % 87.85 % 66.80 % 0.05 s GPU @ 1.5 Ghz (Python + C/C++)
285 BS3D 82.72 % 95.35 % 70.01 % 22 ms Titan Xp
N. Gählert, J. Wan, M. Weber, J. Zöllner, U. Franke and J. Denzler: Beyond Bounding Boxes: Using Bounding Shapes for Real-Time 3D Vehicle Detection from Monocular RGB Images. 2019 IEEE Intelligent Vehicles Symposium (IV) 2019.
286 DP3D 82.63 % 87.90 % 66.62 % 0.07 s GPU @ 1.5 Ghz (Python + C/C++)
287 Disp R-CNN
This method uses stereo information.
code 82.57 % 93.26 % 68.20 % 0.42 s GPU @ 2.5 Ghz (Python + C/C++)
J. Sun, L. Chen, Y. Xie, S. Zhang, Q. Jiang, X. Zhou and H. Bao: Disp R-CNN: Stereo 3D Object Detection via Shape Prior Guided Instance Disparity Estimation. CVPR 2020.
288 Disp R-CNN (velo)
This method uses stereo information.
code 82.47 % 93.20 % 68.09 % 0.42 s GPU @ 2.5 Ghz (Python + C/C++)
J. Sun, L. Chen, Y. Xie, S. Zhang, Q. Jiang, X. Zhou and H. Bao: Disp R-CNN: Stereo 3D Object Detection via Shape Prior Guided Instance Disparity Estimation. CVPR 2020.
289 deprecated 82.23 % 92.21 % 67.87 % 1 core @ 2.5 Ghz (C/C++)
290 S3D 82.18 % 91.77 % 67.82 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
291 Stereo3D
This method uses stereo information.
82.15 % 94.81 % 62.17 % 0.1 s GPU 1080Ti
292 LNET 82.02 % 91.49 % 67.71 % 0.05 s 1 core @ 2.5 Ghz (C/C++)
293 FRCNN+Or code 82.00 % 92.91 % 68.79 % 0.09 s Titan Xp GPU
C. Guindel, D. Martin and J. Armingol: Fast Joint Object Detection and Viewpoint Estimation for Traffic Scene Understanding. IEEE Intelligent Transportation Systems Magazine 2018.
C. Guindel, D. Martin and J. Armingol: Joint Object Detection and Viewpoint Estimation using CNN features. IEEE International Conference on Vehicular Electronics and Safety (ICVES) 2017.
294 DDMP-3D 81.70 % 91.15 % 63.12 % 0.18 s 1 core @ 2.5 Ghz (Python)
295 CBNet 81.70 % 91.47 % 72.02 % 1 s 4 cores @ 2.5 Ghz (Python)
296 yyyyolo 81.33 % 94.36 % 68.72 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
ERROR: Wrong syntax in BIBTEX file.
297 LCD3D 81.25 % 91.29 % 64.55 % 0.03 s GPU @ 2.5 Ghz (Python)
298 A3DODWTDA (image) code 81.25 % 78.96 % 70.56 % 0.8 s GPU @ 3.0 Ghz (Python)
F. Gustafsson and E. Linder-Norén: Automotive 3D Object Detection Without Target Domain Annotations. 2018.
299 RefineNet 81.01 % 91.91 % 65.67 % 0.20 s GPU @ 2.5 Ghz (Matlab + C++)
R. Rajaram, E. Bar and M. Trivedi: RefineNet: Refining Object Detectors for Autonomous Driving. IEEE Transactions on Intelligent Vehicles 2016.
R. Rajaram, E. Bar and M. Trivedi: RefineNet: Iterative Refinement for Accurate Object Localization. Intelligent Transportation Systems Conference 2016.
300 CaDDN 80.73 % 93.61 % 71.09 % 0.63 s GPU @ 2.5 Ghz (Python)
301 UM3D_TUM 80.36 % 92.88 % 65.95 % 0.05 s 1 core @ 2.5 Ghz (Python)
302 3D-GCK 80.19 % 89.55 % 68.08 % 24 ms Tesla V100
N. Gählert, J. Wan, N. Jourdan, J. Finkbeiner, U. Franke and J. Denzler: Single-Shot 3D Detection of Vehicles from Monocular RGB Images via Geometrically Constrained Keypoints in Real-Time. 2020 IEEE Intelligent Vehicles Symposium (IV) 2020.
303 YoloMono3D 79.63 % 92.37 % 59.69 % 0.05 s GPU @ 2.5 Ghz (Python)
304 DA-3Ddet 79.47 % 89.49 % 63.04 % 0.4 s GPU @ 2.5 Ghz (Python)
305 ITS-MDPL 79.30 % 92.31 % 71.94 % 0.16 s GPU @ 2.5 Ghz (Python)
306 A3DODWTDA
This method makes use of Velodyne laser scans.
code 79.15 % 82.98 % 68.30 % 0.08 s GPU @ 3.0 Ghz (Python)
F. Gustafsson and E. Linder-Norén: Automotive 3D Object Detection Without Target Domain Annotations. 2018.
307 MTNAS 78.82 % 88.96 % 67.07 % 0.02 s 1 core @ 2.5 Ghz (python)
308 spLBP 78.66 % 81.66 % 61.69 % 1.5 s 8 cores @ 2.5 Ghz (Matlab + C/C++)
Q. Hu, S. Paisitkriangkrai, C. Shen, A. Hengel and F. Porikli: Fast Detection of Multiple Objects in Traffic Scenes With a Common Detection Framework. IEEE Trans. Intelligent Transportation Systems 2016.
309 3D-SSMFCNN code 78.19 % 77.92 % 69.19 % 0.1 s GPU @ 1.5 Ghz (C/C++)
L. Novak: Vehicle Detection and Pose Estimation for Autonomous Driving. 2017.
310 MonoGRNet code 77.94 % 88.65 % 63.31 % 0.04s NVIDIA P40
Z. Qin, J. Wang and Y. Lu: MonoGRNet: A Geometric Reasoning Network for 3D Object Localization. The Thirty-Third AAAI Conference on Artificial Intelligence (AAAI-19) 2019.
311 Reinspect code 77.48 % 90.27 % 66.73 % 2s 1 core @ 2.5 Ghz (C/C++)
R. Stewart, M. Andriluka and A. Ng: End-to-End People Detection in Crowded Scenes. CVPR 2016.
312 multi-task CNN 77.18 % 86.12 % 68.09 % 25.1 ms GPU @ 2.0 Ghz (Python)
M. Oeljeklaus, F. Hoffmann and T. Bertram: A Fast Multi-Task CNN for Spatial Understanding of Traffic Scenes. IEEE Intelligent Transportation Systems Conference 2018.
313 Regionlets 76.99 % 88.75 % 60.49 % 1 s >8 cores @ 2.5 Ghz (C/C++)
X. Wang, M. Yang, S. Zhu and Y. Lin: Regionlets for Generic Object Detection. T-PAMI 2015.
W. Zou, X. Wang, M. Sun and Y. Lin: Generic Object Detection with Dense Neural Patterns and Regionlets. British Machine Vision Conference 2014.
C. Long, X. Wang, G. Hua, M. Yang and Y. Lin: Accurate Object Detection with Location Relaxation and Regionlets Relocalization. Asian Conference on Computer Vision 2014.
314 3DVP code 76.98 % 84.95 % 65.78 % 40 s 8 cores @ 3.5 Ghz (Matlab + C/C++)
Y. Xiang, W. Choi, Y. Lin and S. Savarese: Data-Driven 3D Voxel Patterns for Object Category Recognition. IEEE Conference on Computer Vision and Pattern Recognition 2015.
315 SubCat code 76.36 % 84.10 % 60.56 % 0.7 s 6 cores @ 3.5 Ghz (Matlab + C/C++)
E. Ohn-Bar and M. Trivedi: Learning to Detect Vehicles by Clustering Appearance Patterns. T-ITS 2015.
316 GS3D 76.35 % 86.23 % 62.67 % 2 s 1 core @ 2.5 Ghz (C/C++)
B. Li, W. Ouyang, L. Sheng, X. Zeng and X. Wang: GS3D: An Efficient 3D Object Detection Framework for Autonomous Driving. IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2019.
317 AOG code 76.24 % 86.08 % 61.51 % 3 s 4 cores @ 2.5 Ghz (Matlab)
T. Wu, B. Li and S. Zhu: Learning And-Or Models to Represent Context and Occlusion for Car Detection and Viewpoint Estimation. TPAMI 2016.
B. Li, T. Wu and S. Zhu: Integrating Context and Occlusion for Car Detection by Hierarchical And-Or Model. ECCV 2014.
318 Pose-RCNN 75.83 % 89.59 % 64.06 % 2 s >8 cores @ 2.5 Ghz (Python)
M. Braun, Q. Rao, Y. Wang and F. Flohr: Pose-RCNN: Joint object detection and pose estimation using 3D object proposals. Intelligent Transportation Systems (ITSC), 2016 IEEE 19th International Conference on 2016.
319 3D FCN
This method makes use of Velodyne laser scans.
74.65 % 86.74 % 67.85 % >5 s 1 core @ 2.5 Ghz (C/C++)
B. Li: 3D Fully Convolutional Network for Vehicle Detection in Point Cloud. IROS 2017.
320 OC Stereo
This method uses stereo information.
code 74.60 % 87.39 % 62.56 % 0.35 s 1 core @ 2.5 Ghz (Python + C/C++)
A. Pon, J. Ku, C. Li and S. Waslander: Object-Centric Stereo Matching for 3D Object Detection. ICRA 2020.
321 yolo_depth 74.40 % 88.71 % 65.58 % 0.07 s GPU @ 2.5 Ghz (Python)
322 RTS3D 73.08 % 80.48 % 64.02 % 0.03 s GPU @ 2.5 Ghz (Python)
323 Kinematic3D code 71.73 % 89.67 % 54.97 % 0.12 s 1 core @ 1.5 Ghz (C/C++)
G. Brazil, G. Pons-Moll, X. Liu and B. Schiele: Kinematic 3D Object Detection in Monocular Video. ECCV 2020 .
324 AOG-View 71.26 % 85.01 % 55.73 % 3 s 1 core @ 2.5 Ghz (Matlab, C/C++)
B. Li, T. Wu and S. Zhu: Integrating Context and Occlusion for Car Detection by Hierarchical And-Or Model. ECCV 2014.
325 DAM 70.78 % 90.08 % 61.38 % 1 s GPU @ 2.5 Ghz (Python)
326 MV-RGBD-RF
This method makes use of Velodyne laser scans.
70.70 % 77.89 % 57.41 % 4 s 4 cores @ 2.5 Ghz (C/C++)
A. Gonzalez, D. Vazquez, A. Lopez and J. Amores: On-Board Object Detection: Multicue, Multimodal, and Multiview Random Forest of Local Experts.. IEEE Trans. on Cybernetics 2016.
A. Gonzalez, G. Villalonga, J. Xu, D. Vazquez, J. Amores and A. Lopez: Multiview Random Forest of Local Experts Combining RGB and LIDAR data for Pedestrian Detection. IEEE Intelligent Vehicles Symposium (IV) 2015.
327 Vote3Deep
This method makes use of Velodyne laser scans.
70.30 % 78.95 % 63.12 % 1.5 s 4 cores @ 2.5 Ghz (C/C++)
M. Engelcke, D. Rao, D. Zeng Wang, C. Hay Tong and I. Posner: Vote3Deep: Fast Object Detection in 3D Point Clouds Using Efficient Convolutional Neural Networks. ArXiv e-prints 2016.
328 ROI-10D 70.16 % 76.56 % 61.15 % 0.2 s GPU @ 3.5 Ghz (Python)
F. Manhardt, W. Kehl and A. Gaidon: ROI-10D: Monocular Lifting of 2D Detection to 6D Pose and Metric Shape. Computer Vision and Pattern Recognition (CVPR) 2019.
329 BirdNet+
This method makes use of Velodyne laser scans.
code 68.05 % 92.10 % 65.61 % 0.1 s Titan Xp (PyTorch)
A. Barrera, C. Guindel, J. Beltrán and F. García: BirdNet+: End-to-End 3D Object Detection in LiDAR Bird's Eye View. arXiv:2003.04188 [cs.CV] 2020.
330 Decoupled-3D 67.92 % 87.78 % 54.53 % 0.08 s GPU @ 2.5 Ghz (C/C++)
Y. Cai, B. Li, Z. Jiao, H. Li, X. Zeng and X. Wang: Monocular 3D Object Detection with Decoupled Structured Polygon Estimation and Height-Guided Depth Estimation. AAAI 2020.
331 Pseudo-Lidar
This method uses stereo information.
code 67.79 % 85.40 % 58.50 % 0.4 s GPU @ 2.5 Ghz (Python + C/C++)
Y. Wang, W. Chao, D. Garg, B. Hariharan, M. Campbell and K. Weinberger: Pseudo-LiDAR From Visual Depth Estimation: Bridging the Gap in 3D Object Detection for Autonomous Driving. The IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2019.
332 OC-DPM 67.06 % 79.07 % 52.61 % 10 s 8 cores @ 2.5 Ghz (Matlab)
B. Pepik, M. Stark, P. Gehler and B. Schiele: Occlusion Patterns for Object Class Detection. IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2013.
333 DPM-VOC+VP 66.72 % 82.15 % 49.01 % 8 s 1 core @ 2.5 Ghz (C/C++)
B. Pepik, M. Stark, P. Gehler and B. Schiele: Multi-view and 3D Deformable Part Models. IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI) 2015.
334 BdCost48LDCF code 66.63 % 81.38 % 52.20 % 0.5 s 8 cores @ 3.5 Ghz (Matlab + C/C++)
A. Fernández-Baldera, J. Buenaposada and L. Baumela: BAdaCost: Multi-class Boosting with Costs . Pattern Recognition 2018.
335 RefinedMPL 65.24 % 88.29 % 53.20 % 0.15 s GPU @ 2.5 Ghz (Python + C/C++)
J. Vianney, S. Aich and B. Liu: RefinedMPL: Refined Monocular PseudoLiDAR for 3D Object Detection in Autonomous Driving. arXiv preprint arXiv:1911.09712 2019.
336 MDPM-un-BB 64.06 % 79.74 % 49.07 % 60 s 4 core @ 2.5 Ghz (MATLAB)
P. Felzenszwalb, R. Girshick, D. McAllester and D. Ramanan: Object Detection with Discriminatively Trained Part-Based Models. PAMI 2010.
337 TLNet (Stereo)
This method uses stereo information.
code 63.53 % 76.92 % 54.58 % 0.1 s 1 core @ 2.5 Ghz (Python)
Z. Qin, J. Wang and Y. Lu: Triangulation Learning Network: from Monocular to Stereo 3D Object Detection. IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2019.
338 PDV-Subcat 63.24 % 78.27 % 47.67 % 7 s 1 core @ 2.5 Ghz (C/C++)
J. Shen, X. Zuo, J. Li, W. Yang and H. Ling: A novel pixel neighborhood differential statistic feature for pedestrian and face detection . Pattern Recognition 2017.
339 PG-MonoNet 62.75 % 70.87 % 54.34 % 0.19 s GPU @ 2.5 Ghz (Python)
340 MODet
This method makes use of Velodyne laser scans.
62.54 % 66.06 % 60.04 % 0.05 s GTX1080Ti
Y. Zhang, Z. Xiang, C. Qiao and S. Chen: Accurate and Real-Time Object Detection Based on Bird's Eye View on 3D Point Clouds. 2019 International Conference on 3D Vision (3DV) 2019.
341 SubCat48LDCF code 61.16 % 78.86 % 44.69 % 0.5 s 8 cores @ 3.5 Ghz (Matlab + C/C++)
A. Fernández-Baldera, J. Buenaposada and L. Baumela: BAdaCost: Multi-class Boosting with Costs . Pattern Recognition 2018.
342 DPM-C8B1
This method uses stereo information.
60.21 % 75.24 % 44.73 % 15 s 4 cores @ 2.5 Ghz (Matlab + C/C++)
J. Yebes, L. Bergasa and M. García-Garrido: Visual Object Recognition with 3D-Aware Features in KITTI Urban Scenes. Sensors 2015.
J. Yebes, L. Bergasa, R. Arroyo and A. Lázaro: Supervised learning and evaluation of KITTI's cars detector with DPM. IV 2014.
343 FPIOD
This method makes use of Velodyne laser scans.
code 60.04 % 78.81 % 50.13 % 0.05 s 1 core @ 2.5 Ghz (C/C++)
344 SAMME48LDCF code 58.38 % 77.47 % 44.43 % 0.5 s 8 cores @ 3.5 Ghz (Matlab + C/C++)
A. Fernández-Baldera, J. Buenaposada and L. Baumela: BAdaCost: Multi-class Boosting with Costs . Pattern Recognition 2018.
345 LSVM-MDPM-sv 58.36 % 71.11 % 43.22 % 10 s 4 cores @ 3.0 Ghz (C/C++)
P. Felzenszwalb, R. Girshick, D. McAllester and D. Ramanan: Object Detection with Discriminatively Trained Part-Based Models. PAMI 2010.
A. Geiger, C. Wojek and R. Urtasun: Joint 3D Estimation of Objects and Scene Layout. NIPS 2011.
346 BirdNet
This method makes use of Velodyne laser scans.
57.12 % 79.30 % 55.16 % 0.11 s Titan Xp (Caffe)
J. Beltrán, C. Guindel, F. Moreno, D. Cruzado, F. García and A. Escalera: BirdNet: A 3D Object Detection Framework from LiDAR Information. 2018 21st International Conference on Intelligent Transportation Systems (ITSC) 2018.
347 ACF-SC 56.60 % 69.90 % 43.61 % <0.3 s 1 core @ >3.5 Ghz (Matlab + C/C++)
C. Cadena, A. Dick and I. Reid: A Fast, Modular Scene Understanding System using Context-Aware Object Detection. Robotics and Automation (ICRA), 2015 IEEE International Conference on 2015.
348 LSVM-MDPM-us code 55.95 % 68.94 % 41.45 % 10 s 4 cores @ 3.0 Ghz (C/C++)
P. Felzenszwalb, R. Girshick, D. McAllester and D. Ramanan: Object Detection with Discriminatively Trained Part-Based Models. PAMI 2010.
349 ACF 54.09 % 63.05 % 41.81 % 0.2 s 1 core @ >3.5 Ghz (Matlab + C/C++)
P. Doll\'ar, R. Appel, S. Belongie and P. Perona: Fast Feature Pyramids for Object Detection. PAMI 2014.
P. Doll\'ar: Piotr's Image and Video Matlab Toolbox (PMT). .
350 Mono3D_PLiDAR code 53.36 % 80.85 % 44.80 % 0.1 s NVIDIA GeForce 1080 (pytorch)
X. Weng and K. Kitani: Monocular 3D Object Detection with Pseudo-LiDAR Point Cloud. arXiv:1903.09847 2019.
351 RT3D-GMP
This method uses stereo information.
51.95 % 62.41 % 39.14 % 0.06 s GPU @ 2.5 Ghz (Python + C/C++)
352 VeloFCN
This method makes use of Velodyne laser scans.
51.82 % 70.53 % 45.70 % 1 s GPU @ 2.5 Ghz (Python + C/C++)
B. Li, T. Zhang and T. Xia: Vehicle Detection from 3D Lidar Using Fully Convolutional Network. RSS 2016 .
353 SparVox3D 50.28 % 53.51 % 40.38 % 0.05 s GPU @ 2.0 Ghz (Python)
354 SF
This method uses stereo information.
This method makes use of Velodyne laser scans.
46.68 % 60.62 % 38.22 % 0.5 s 1 core @ 2.5 Ghz (Python)
ERROR: Wrong syntax in BIBTEX file.
355 Vote3D
This method makes use of Velodyne laser scans.
45.94 % 54.38 % 40.48 % 0.5 s 4 cores @ 2.8 Ghz (C/C++)
D. Wang and I. Posner: Voting for Voting in Online Point Cloud Object Detection. Proceedings of Robotics: Science and Systems 2015.
356 TopNet-HighRes
This method makes use of Velodyne laser scans.
45.85 % 58.04 % 41.11 % 101ms NVIDIA GeForce 1080 Ti (tensorflow-gpu)
S. Wirges, T. Fischer, C. Stiller and J. Frias: Object Detection and Classification in Occupancy Grid Maps Using Deep Convolutional Networks. 2018 21st International Conference on Intelligent Transportation Systems (ITSC) 2018.
357 RT3DStereo
This method uses stereo information.
45.81 % 56.53 % 37.63 % 0.08 s GPU @ 2.5 Ghz (C/C++)
H. Königshof, N. Salscheider and C. Stiller: Realtime 3D Object Detection for Automated Driving Using Stereo Vision and Semantic Information. Proc. IEEE Intl. Conf. Intelligent Transportation Systems 2019.
358 Multimodal Detection
This method makes use of Velodyne laser scans.
code 45.46 % 63.91 % 37.25 % 0.06 s GPU @ 3.5 Ghz (Matlab + C/C++)
A. Asvadi, L. Garrote, C. Premebida, P. Peixoto and U. Nunes: Multimodal vehicle detection: fusing 3D- LIDAR and color camera data. Pattern Recognition Letters 2017.
359 RT3D
This method makes use of Velodyne laser scans.
39.69 % 50.33 % 40.04 % 0.09 s GPU @ 1.8Ghz
Y. Zeng, Y. Hu, S. Liu, J. Ye, Y. Han, X. Li and N. Sun: RT3D: Real-Time 3-D Vehicle Detection in LiDAR Point Cloud for Autonomous Driving. IEEE Robotics and Automation Letters 2018.
360 VoxelJones code 36.31 % 43.89 % 34.16 % .18 s 1 core @ 2.5 Ghz (Python + C/C++)
M. Motro and J. Ghosh: Vehicular Multi-object Tracking with Persistent Detector Failures. arXiv preprint arXiv:1907.11306 2019.
361 CSoR
This method makes use of Velodyne laser scans.
code 21.66 % 31.52 % 17.99 % 3.5 s 4 cores @ >3.5 Ghz (Python + C/C++)
L. Plotkin: PyDriver: Entwicklung eines Frameworks für räumliche Detektion und Klassifikation von Objekten in Fahrzeugumgebung. 2015.
362 mBoW
This method makes use of Velodyne laser scans.
21.59 % 35.22 % 16.89 % 10 s 1 core @ 2.5 Ghz (C/C++)
J. Behley, V. Steinhage and A. Cremers: Laser-based Segment Classification Using a Mixture of Bag-of-Words. Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2013.
363 DepthCN
This method makes use of Velodyne laser scans.
code 21.18 % 37.45 % 16.08 % 2.3 s GPU @ 3.5 Ghz (Matlab)
A. Asvadi, L. Garrote, C. Premebida, P. Peixoto and U. Nunes: DepthCN: vehicle detection using 3D- LIDAR and convnet. IEEE ITSC 2017.
364 YOLOv2 code 14.31 % 26.74 % 10.94 % 0.02 s GPU @ 3.5 Ghz (C/C++)
J. Redmon, S. Divvala, R. Girshick and A. Farhadi: You only look once: Unified, real-time object detection. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition 2016.
J. Redmon and A. Farhadi: YOLO9000: Better, Faster, Stronger. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition 2017.
365 TopNet-UncEst
This method makes use of Velodyne laser scans.
6.24 % 7.24 % 5.42 % 0.09 s NVIDIA GeForce 1080 Ti (tensorflow-gpu)
S. Wirges, M. Braun, M. Lauer and C. Stiller: Capturing Object Detection Uncertainty in Multi-Layer Grid Maps. 2019.
366 TopNet-Retina
This method makes use of Velodyne laser scans.
5.00 % 6.82 % 4.52 % 52ms GeForce 1080Ti (tensorflow-gpu, v1.12)
S. Wirges, T. Fischer, C. Stiller and J. Frias: Object Detection and Classification in Occupancy Grid Maps Using Deep Convolutional Networks. 2018 21st International Conference on Intelligent Transportation Systems (ITSC) 2018.
367 TopNet-DecayRate
This method makes use of Velodyne laser scans.
0.01 % 0.00 % 0.01 % 92 ms NVIDIA GeForce 1080 Ti (tensorflow-gpu)
S. Wirges, T. Fischer, C. Stiller and J. Frias: Object Detection and Classification in Occupancy Grid Maps Using Deep Convolutional Networks. 2018 21st International Conference on Intelligent Transportation Systems (ITSC) 2018.
368 LaserNet 0.00 % 0.00 % 0.00 % 12 ms GPU @ 2.5 Ghz (C/C++)
G. Meyer, A. Laddha, E. Kee, C. Vallespi-Gonzalez and C. Wellington: LaserNet: An Efficient Probabilistic 3D Object Detector for Autonomous Driving. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2019.
Table as LaTeX | Only published Methods

Pedestrian


Method Setting Code Moderate Easy Hard Runtime Environment
1 HWFD 83.06 % 90.50 % 78.35 % 0.21 s one 1080Ti
2 dgist_multiDetNet 80.21 % 89.21 % 75.77 % 0.08 s GPU Titanx Pascal (Python)
3 F-PointNet
This method makes use of Velodyne laser scans.
code 80.13 % 89.83 % 75.05 % 0.17 s GPU @ 3.0 Ghz (Python)
C. Qi, W. Liu, C. Wu, H. Su and L. Guibas: Frustum PointNets for 3D Object Detection from RGB-D Data. arXiv preprint arXiv:1711.08488 2017.
4 DGIST MT-CNN 79.38 % 88.58 % 74.83 % 0.09 s GPU @ 1.0 Ghz (Python)
5 TuSimple code 78.40 % 88.87 % 73.66 % 1.6 s GPU @ 2.5 Ghz (Python + C/C++)
F. Yang, W. Choi and Y. Lin: Exploit all the layers: Fast and accurate cnn object detector with scale dependent pooling and cascaded rejection classifiers. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition 2016.
K. He, X. Zhang, S. Ren and J. Sun: Deep residual learning for image recognition. Proceedings of the IEEE conference on computer vision and pattern recognition 2016.
6 ZEEWAIN-AI 78.20 % 88.46 % 73.35 % 0.3 s GPU @ 2.5 Ghz (Python)
7 RRC code 76.61 % 85.98 % 71.47 % 3.6 s GPU @ 2.5 Ghz (C/C++)
J. Ren, X. Chen, J. Liu, W. Sun, J. Pang, Q. Yan, Y. Tai and L. Xu: Accurate Single Stage Detector Using Recurrent Rolling Convolution. CVPR 2017.
8 WSSN
This method makes use of Velodyne laser scans.
76.42 % 84.91 % 71.86 % 0.41 s GPU @ >3.5 Ghz (Python + C/C++)
9 ECP Faster R-CNN 76.25 % 85.96 % 70.55 % 0.25 s GPU @ 2.5 Ghz (Python)
M. Braun, S. Krebs, F. Flohr and D. Gavrila: The EuroCity Persons Dataset: A Novel Benchmark for Object Detection. CoRR 2018.
10 Aston-EAS 76.07 % 86.71 % 70.02 % 0.24 s GPU @ 2.5 Ghz (Python + C/C++)
J. Wei, J. He, Y. Zhou, K. Chen, Z. Tang and Z. Xiong: Enhanced Object Detection With Deep Convolutional Neural Networks for Advanced Driving Assistance. IEEE Transactions on Intelligent Transportation Systems 2019.
11 MHN 75.99 % 87.21 % 69.50 % 0.39 s GPU @ 2.5 Ghz (Python)
J. Cao, Y. Pang, S. Zhao and X. Li: High-Level Semantic Networks for Multi- Scale Object Detection. IEEE Transactions on Circuits and Systems for Video Technology 2019.
12 FFNet code 75.81 % 87.17 % 69.86 % 1.07 s GPU @ 1.5 Ghz (Python)
C. Zhao, Y. Qian and M. Yang: Monocular Pedestrian Orientation Estimation Based on Deep 2D-3D Feedforward. Pattern Recognition 2019.
13 SJTU-HW 75.81 % 87.17 % 69.86 % 0.85s GPU @ 1.5 Ghz (Python + C/C++)
S. Zhang, X. Zhao, L. Fang, F. Haiping and S. Haitao: LED: LOCALIZATION-QUALITY ESTIMATION EMBEDDED DETECTOR. IEEE International Conference on Image Processing 2018.
L. Fang, X. Zhao and S. Zhang: Small-objectness sensitive detection based on shifted single shot detector. Multimedia Tools and Applications 2018.
14 Noah CV Lab - SSL 75.64 % 86.57 % 70.53 % 0.1 s GPU @ 2.5 Ghz (Python)
15 Faster RCNN + Gr + A 74.95 % 86.95 % 69.50 % 1.29 s GPU @ 2.5 Ghz (Python)
16 MS-CNN code 74.89 % 85.71 % 68.99 % 0.4 s GPU @ 2.5 Ghz (C/C++)
Z. Cai, Q. Fan, R. Feris and N. Vasconcelos: A Unified Multi-scale Deep Convolutional Neural Network for Fast Object Detection. ECCV 2016.
17 MMCOM 73.08 % 86.01 % 68.38 % 0.04 s 1 core @ 2.5 Ghz (Python)
18 F-ConvNet
This method makes use of Velodyne laser scans.
code 72.91 % 83.63 % 67.18 % 0.47 s GPU @ 2.5 Ghz (Python + C/C++)
Z. Wang and K. Jia: Frustum ConvNet: Sliding Frustums to Aggregate Local Point-Wise Features for Amodal 3D Object Detection. IROS 2019.
19 GN 72.29 % 82.93 % 65.56 % 1 s GPU @ 2.5 Ghz (Matlab + C/C++)
S. Jung and K. Hong: Deep network aided by guiding network for pedestrian detection. Pattern Recognition Letters 2017.
20 SubCNN 72.27 % 84.88 % 66.82 % 2 s GPU @ 3.5 Ghz (Python + C/C++)
Y. Xiang, W. Choi, Y. Lin and S. Savarese: Subcategory-aware Convolutional Neural Networks for Object Proposals and Detection. IEEE Winter Conference on Applications of Computer Vision (WACV) 2017.
21 FRCNN-WS 72.26 % 84.20 % 67.47 % 0.22 s 1 core @ 3.0 Ghz (Python)
22 HR-faster-rcnn 72.26 % 87.65 % 65.71 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
23 Faster RCNN + A 72.09 % 85.35 % 66.87 % 0.19 s GPU @ 2.5 Ghz (Python + C/C++)
24 VMVS
This method makes use of Velodyne laser scans.
71.82 % 82.80 % 66.85 % 0.25 s GPU @ 2.5 Ghz (Python)
J. Ku, A. Pon, S. Walsh and S. Waslander: Improving 3D object detection for pedestrians with virtual multi-view synthesis orientation estimation. IROS 2019.
25 Multi-task DG 71.64 % 85.34 % 66.76 % 0.06 s GPU @ 2.5 Ghz (Python)
26 IVA code 71.37 % 84.61 % 64.90 % 0.4 s GPU @ 2.5 Ghz (C/C++)
Y. Zhu, J. Wang, C. Zhao, H. Guo and H. Lu: Scale-adaptive Deconvolutional Regression Network for Pedestrian Detection. ACCV 2016.
S. Ren, K. He, R. Girshick and J. Sun: Faster R-CNN: Towards real-time object detection with region proposal networks. Advances in neural information processing systems 2015.
27 MM-MRFC
This method uses optical flow information.
This method makes use of Velodyne laser scans.
70.76 % 83.79 % 64.81 % 0.05 s GPU @ 2.5 Ghz (C/C++)
A. Costea, R. Varga and S. Nedevschi: Fast Boosting based Detection using Scale Invariant Multimodal Multiresolution Filtered Features. CVPR 2017.
28 SDP+RPN 70.42 % 82.07 % 65.09 % 0.4 s GPU @ 2.5 Ghz (Python + C/C++)
F. Yang, W. Choi and Y. Lin: Exploit All the Layers: Fast and Accurate CNN Object Detector with Scale Dependent Pooling and Cascaded Rejection Classifiers. Proceedings of the IEEE International Conference on Computer Vision and Pattern Recognition 2016.
S. Ren, K. He, R. Girshick and J. Sun: Faster R-CNN: Towards real-time object detection with region proposal networks. Advances in Neural Information Processing Systems 2015.
29 Mono3CN 69.75 % 83.47 % 63.15 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
30 3DOP
This method uses stereo information.
code 69.57 % 83.17 % 63.48 % 3s GPU @ 2.5 Ghz (Matlab + C/C++)
X. Chen, K. Kundu, Y. Zhu, A. Berneshawi, H. Ma, S. Fidler and R. Urtasun: 3D Object Proposals for Accurate Object Class Detection. NIPS 2015.
31 MonoPSR code 68.56 % 85.60 % 63.34 % 0.2 s GPU @ 3.5 Ghz (Python)
J. Ku*, A. Pon* and S. Waslander: Monocular 3D Object Detection Leveraging Accurate Proposals and Shape Reconstruction. CVPR 2019.
32 DeepStereoOP 68.46 % 83.00 % 63.35 % 3.4 s GPU @ 3.5 Ghz (Matlab + C/C++)
C. Pham and J. Jeon: Robust Object Proposals Re-ranking for Object Detection in Autonomous Driving Using Convolutional Neural Networks. Signal Processing: Image Communiation 2017.
33 sensekitti code 68.41 % 82.72 % 62.72 % 4.5 s GPU @ 2.5 Ghz (Python + C/C++)
B. Yang, J. Yan, Z. Lei and S. Li: Craft Objects from Images. CVPR 2016.
34 FII-CenterNet 67.31 % 81.32 % 61.29 % 0.09 s GPU @ 2.5 Ghz (Python)
35 Mono3D code 67.29 % 80.30 % 62.23 % 4.2 s GPU @ 2.5 Ghz (Matlab + C/C++)
X. Chen, K. Kundu, Z. Zhang, H. Ma, S. Fidler and R. Urtasun: Monocular 3D Object Detection for Autonomous Driving. CVPR 2016.
36 Faster R-CNN code 66.24 % 79.97 % 61.09 % 2 s GPU @ 3.5 Ghz (Python + C/C++)
S. Ren, K. He, R. Girshick and J. Sun: Faster R-CNN: Towards Real- Time Object Detection with Region Proposal Networks. NIPS 2015.
37 PMN 66.17 % 82.16 % 60.84 % 0.2 s 1 core @ 2.5 Ghz (Python)
38 SDP+CRC (ft) 64.36 % 79.22 % 59.16 % 0.6 s GPU @ 2.5 Ghz (C/C++)
F. Yang, W. Choi and Y. Lin: Exploit All the Layers: Fast and Accurate CNN Object Detector with Scale Dependent Pooling and Cascaded Rejection Classifiers. Proceedings of the IEEE International Conference on Computer Vision and Pattern Recognition 2016.
39 Pose-RCNN 63.54 % 80.07 % 57.02 % 2 s >8 cores @ 2.5 Ghz (Python)
M. Braun, Q. Rao, Y. Wang and F. Flohr: Pose-RCNN: Joint object detection and pose estimation using 3D object proposals. Intelligent Transportation Systems (ITSC), 2016 IEEE 19th International Conference on 2016.
40 GA-Aug 63.53 % 78.06 % 57.80 % 0.04 s GPU @ 2.5 Ghz (Python)
41 UDI-mono3D 63.24 % 77.94 % 57.35 % 0.05 s 1 core @ 2.5 Ghz (Python)
42 CFM 62.84 % 74.76 % 56.06 % <2 s GPU @ 2.5 Ghz (Matlab + C/C++)
Q. Hu, P. Wang, C. Shen, A. Hengel and F. Porikli: Pushing the Limits of Deep CNNs for Pedestrian Detection. IEEE Transactions on Circuits and Systems for Video Technology 2017.
43 HRI-ADLab-HZ-AFree 62.78 % 73.95 % 60.46 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
44 HotSpotNet 62.31 % 71.43 % 59.24 % 0.04 s 1 core @ 2.5 Ghz (Python + C/C++)
Q. Chen, L. Sun, Z. Wang, K. Jia and A. Yuille: object as hotspots. Proceedings of the European Conference on Computer Vision (ECCV) 2020.
45 EACV 62.29 % 79.38 % 57.16 % 0.04 s 1 core @ 2.5 Ghz (Python + C/C++)
46 UDI-mono3D 62.26 % 77.16 % 56.39 % 0.05 s 1 core @ 2.5 Ghz (Python)
47 GAA 61.92 % 77.67 % 56.56 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
ERROR: Wrong syntax in BIBTEX file.
48 MonoPair 61.57 % 78.81 % 56.51 % 0.06 s GPU @ 2.5 Ghz (Python + C/C++)
Y. Chen, L. Tai, K. Sun and M. Li: MonoPair: Monocular 3D Object Detection Using Pairwise Spatial Relationships. The IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2020.
49 HRI-ADLab-HZ 61.40 % 71.43 % 57.54 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
50 DLE 61.29 % 78.66 % 56.18 % 0.04 s GPU @ 2.5 Ghz (Python)
51 RPN+BF code 61.22 % 77.06 % 55.22 % 0.6 s GPU @ 2.5 Ghz (Matlab + C/C++)
L. Zhang, L. Lin, X. Liang and K. He: Is Faster R-CNN Doing Well for Pedestrian Detection?. ECCV 2016.
52 JSU-NET 61.19 % 83.17 % 56.20 % 0.1 s 1 core @ 2.5 Ghz (Python)
53 RethinkDet3D 60.88 % 70.56 % 56.69 % 0.15 s 1 core @ 2.5 Ghz (Python)
54 Regionlets 60.83 % 73.79 % 54.72 % 1 s >8 cores @ 2.5 Ghz (C/C++)
X. Wang, M. Yang, S. Zhu and Y. Lin: Regionlets for Generic Object Detection. T-PAMI 2015.
W. Zou, X. Wang, M. Sun and Y. Lin: Generic Object Detection with Dense Neural Patterns and Regionlets. British Machine Vision Conference 2014.
C. Long, X. Wang, G. Hua, M. Yang and Y. Lin: Accurate Object Detection with Location Relaxation and Regionlets Relocalization. Asian Conference on Computer Vision 2014.
55 3DSSD code 60.51 % 72.33 % 56.28 % 0.04 s GPU @ 2.5 Ghz (Python + C/C++)
Z. Yang, Y. Sun, S. Liu and J. Jia: 3DSSD: Point-based 3D Single Stage Object Detector. CVPR 2020.
56 MVX-Net++ 60.21 % 69.70 % 56.07 % 0.15 s 1 core @ 2.5 Ghz (C/C++)
57 VICNet 60.07 % 70.41 % 56.29 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
58 Fast VP-RCNN code 59.69 % 69.48 % 57.86 % 0.05 s 1 core @ >3.5 Ghz (python)
59 TANet code 59.07 % 69.90 % 56.44 % 0.035s GPU @ 2.5 Ghz (Python + C/C++)
Z. Liu, X. Zhao, T. Huang, R. Hu, Y. Zhou and X. Bai: TANet: Robust 3D Object Detection from Point Clouds with Triple Attention. AAAI 2020.
60 GAP-soft-filter 58.89 % 68.54 % 56.08 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
61 DSA-PV-RCNN
This method makes use of Velodyne laser scans.
58.81 % 66.93 % 56.57 % 0.08 s 1 core @ 2.5 Ghz (Python + C/C++)
62 BFF 58.72 % 76.95 % 53.70 % 8.4 s 4 cores @ 1.5 Ghz (Python)
63 SRDL
This method uses stereo information.
This method makes use of Velodyne laser scans.
58.70 % 68.45 % 56.23 % 0.15 s GPU @ 2.5 Ghz (Python + C/C++)
64 Baseline of CA RCNN 58.68 % 68.44 % 56.22 % 0.1 s GPU @ 2.5 Ghz (Python)
65 CVIS-DF3D 58.68 % 68.44 % 56.22 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
66 PF-GAP 58.65 % 70.40 % 55.02 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
67 MSL3D 58.57 % 69.07 % 55.86 % 0.03 s GPU @ 2.5 Ghz (Python)
68 MMLab PV-RCNN
This method makes use of Velodyne laser scans.
code 58.37 % 68.88 % 55.38 % 0.08 s 1 core @ 2.5 Ghz (Python + C/C++)
S. Shi, C. Guo, L. Jiang, Z. Wang, J. Shi, X. Wang and H. Li: PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detection. CVPR 2020.
69 Point-GNN
This method makes use of Velodyne laser scans.
code 58.20 % 71.59 % 54.06 % 0.6 s GPU @ 2.5 Ghz (Python)
W. Shi and R. Rajkumar: Point-GNN: Graph Neural Network for 3D Object Detection in a Point Cloud. CVPR 2020.
70 PP-3D 58.20 % 71.59 % 54.06 % 0.1 s 1 core @ 2.5 Ghz (Python)
71 XView-PartA^2 58.17 % 67.12 % 55.81 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
72 DeepParts 58.15 % 71.47 % 51.92 % ~1 s GPU @ 2.5 Ghz (Matlab)
Y. Tian, P. Luo, X. Wang and X. Tang: Deep Learning Strong Parts for Pedestrian Detection. ICCV 2015.
73 CompACT-Deep 58.14 % 70.93 % 52.29 % 1 s 1 core @ 2.5 Ghz (Matlab + C/C++)
Z. Cai, M. Saberian and N. Vasconcelos: Learning Complexity-Aware Cascades for Deep Pedestrian Detection. ICCV 2015.
74 PPBA 58.06 % 67.73 % 55.69 % NA s GPU @ 2.5 Ghz (Python)
75 MMLab-PartA^2
This method makes use of Velodyne laser scans.
code 57.96 % 68.78 % 54.01 % 0.08 s GPU @ 2.5 Ghz (Python + C/C++)
S. Shi, Z. Wang, J. Shi, X. Wang and H. Li: From Points to Parts: 3D Object Detection from Point Cloud with Part-aware and Part-aggregation Network. IEEE Transactions on Pattern Analysis and Machine Intelligence 2020.
76 AVOD-FPN
This method makes use of Velodyne laser scans.
code 57.87 % 67.95 % 55.23 % 0.1 s Titan X (Pascal)
J. Ku, M. Mozifian, J. Lee, A. Harakeh and S. Waslander: Joint 3D Proposal Generation and Object Detection from View Aggregation. IROS 2018.
77 FSA-PVRCNN
This method makes use of Velodyne laser scans.
57.67 % 65.80 % 55.34 % 0.06 s 1 core @ 2.5 Ghz (C/C++)
78 SVGA-Net
This method makes use of Velodyne laser scans.
57.57 % 67.48 % 55.11 % 0.08 s GPU @ 2.5 Ghz (Python + C/C++)
79 TBD 57.56 % 66.43 % 55.21 % 0.07 s 1 core @ 2.5 Ghz (Python + C/C++)
80 TBU 57.44 % 67.29 % 54.00 % NA s GPU @ 2.5 Ghz (Python)
81 CentrNet-FG 57.40 % 68.27 % 54.11 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
82 SemanticVoxels 57.22 % 67.62 % 54.90 % 0.04 s GPU @ 2.5 Ghz (Python + C/C++)
J. Fei, W. Chen, P. Heidenreich, S. Wirges and C. Stiller: SemanticVoxels: Sequential Fusion for 3D Pedestrian Detection using LiDAR Point Cloud and Semantic Segmentation. MFI 2020.
83 CVRS VIC-RCNN 57.20 % 65.43 % 55.17 % 0.08 s 1 core @ 2.5 Ghz (C/C++)
84 CVRS VIC-Net 57.20 % 65.53 % 54.92 % 0.06 s 1 core @ 2.5 Ghz (C/C++)
85 Simple3D Net 57.00 % 66.89 % 54.38 % 0.02 s GPU @ 2.5 Ghz (Python)
86 KNN-GCNN 56.80 % 69.53 % 52.86 % 0.4 s 1 core @ 2.5 Ghz (Python + C/C++)
87 FRCNN+Or code 56.68 % 71.64 % 51.53 % 0.09 s Titan Xp GPU
C. Guindel, D. Martin and J. Armingol: Fast Joint Object Detection and Viewpoint Estimation for Traffic Scene Understanding. IEEE Intelligent Transportation Systems Magazine 2018.
C. Guindel, D. Martin and J. Armingol: Joint Object Detection and Viewpoint Estimation using CNN features. IEEE International Conference on Vehicular Electronics and Safety (ICVES) 2017.
88 FilteredICF 56.53 % 69.79 % 50.32 % ~ 2 s >8 cores @ 2.5 Ghz (Matlab + C/C++)
S. Zhang, R. Benenson and B. Schiele: Filtered Channel Features for Pedestrian Detection. CVPR 2015.
89 yolo4_5l 56.46 % 73.14 % 49.57 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
90 ARPNET 56.42 % 69.08 % 52.69 % 0.08 s GPU @ 2.5 Ghz (Python + C/C++)
Y. Ye, C. Zhang and X. Hao: ARPNET: attention region proposal network for 3D object detection. Science China Information Sciences 2019.
91 MonoRUn 56.40 % 73.05 % 51.40 % 0.07 s GPU @ 2.5 Ghz (Python + C/C++)
92 MV-RGBD-RF
This method makes use of Velodyne laser scans.
56.18 % 72.99 % 49.72 % 4 s 4 cores @ 2.5 Ghz (C/C++)
A. Gonzalez, D. Vazquez, A. Lopez and J. Amores: On-Board Object Detection: Multicue, Multimodal, and Multiview Random Forest of Local Experts.. IEEE Trans. on Cybernetics 2016.
A. Gonzalez, G. Villalonga, J. Xu, D. Vazquez, J. Amores and A. Lopez: Multiview Random Forest of Local Experts Combining RGB and LIDAR data for Pedestrian Detection. IEEE Intelligent Vehicles Symposium (IV) 2015.
93 CVIS-DF3D_v2 56.02 % 65.82 % 53.58 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
94 yolo4 55.78 % 72.49 % 51.11 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
95 Mag 55.74 % 71.91 % 50.92 % 0.07 s 1 core @ 2.5 Ghz (C/C++)
96 MLOD
This method makes use of Velodyne laser scans.
code 55.62 % 68.42 % 51.45 % 0.12 s GPU @ 1.5 Ghz (Python)
J. Deng and K. Czarnecki: MLOD: A multi-view 3D object detection based on robust feature fusion method. arXiv preprint arXiv:1909.04163 2019.
97 DAM 55.60 % 74.85 % 50.63 % 1 s GPU @ 2.5 Ghz (Python)
98 CDI3D 55.16 % 67.35 % 51.17 % 0.03 s GPU @ 2.5 Ghz (Python)
99 PointPillars
This method makes use of Velodyne laser scans.
code 55.10 % 65.29 % 52.39 % 16 ms 1080ti GPU and Intel i7 CPU
A. Lang, S. Vora, H. Caesar, L. Zhou, J. Yang and O. Beijbom: PointPillars: Fast Encoders for Object Detection from Point Clouds. CVPR 2019.
100 STD code 55.04 % 68.33 % 50.85 % 0.08 s GPU @ 2.5 Ghz (Python + C/C++)
Z. Yang, Y. Sun, S. Liu, X. Shen and J. Jia: STD: Sparse-to-Dense 3D Object Detector for Point Cloud. ICCV 2019.
101 Vote3Deep
This method makes use of Velodyne laser scans.
54.80 % 67.99 % 51.17 % 1.5 s 4 cores @ 2.5 Ghz (C/C++)
M. Engelcke, D. Rao, D. Zeng Wang, C. Hay Tong and I. Posner: Vote3Deep: Fast Object Detection in 3D Point Clouds Using Efficient Convolutional Neural Networks. ArXiv e-prints 2016.
102 yolo4 54.30 % 73.16 % 49.46 % 0.02 s 1 core @ 2.5 Ghz (Python)
103 epBRM
This method makes use of Velodyne laser scans.
code 54.13 % 62.90 % 51.95 % 0.10 s 1 core @ 2.5 Ghz (C/C++)
K. Shin: Improving a Quality of 3D Object Detection by Spatial Transformation Mechanism. arXiv preprint arXiv:1910.04853 2019.
104 MGACNet 54.13 % 63.54 % 51.79 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
105 PointPainting
This method makes use of Velodyne laser scans.
53.76 % 61.86 % 50.61 % 0.4 s GPU @ 2.5 Ghz (Python + C/C++)
S. Vora, A. Lang, B. Helou and O. Beijbom: PointPainting: Sequential Fusion for 3D Object Detection. CVPR 2020.
106 PDV2 53.54 % 65.59 % 47.65 % 3.7 s 1 core @ 3.0 Ghz Matlab (C/C++)
J. Shen, X. Zuo, J. Li, W. Yang and H. Ling: A novel pixel neighborhood differential statistic feature for pedestrian and face detection . Pattern Recognition 2017.
107 3DBN_2 53.26 % 63.82 % 50.76 % 0.12 s 1 core @ 2.5 Ghz (C/C++)
ERROR: Wrong syntax in BIBTEX file.
108 TAFT 53.15 % 67.62 % 47.08 % 0.2 s 1 core @ 2.5 Ghz (C/C++)
J. Shen, X. Zuo, W. Yang, D. Prokhorov, X. Mei and H. Ling: Differential Features for Pedestrian Detection: A Taylor Series Perspective. IEEE Transactions on Intelligent Transportation Systems 2018.
109 MTMono3d 52.96 % 69.01 % 46.18 % 0.05 s 1 core @ 2.5 Ghz (C/C++)
110 pAUCEnsT 52.88 % 65.84 % 46.97 % 60 s 1 core @ 2.5 Ghz (Matlab + C/C++)
S. Paisitkriangkrai, C. Shen and A. Hengel: Pedestrian Detection with Spatially Pooled Features and Structured Ensemble Learning. arXiv 2014.
111 yolo4_5l code 52.74 % 71.89 % 47.90 % 0.02 s 1 core @ 2.5 Ghz (Python + C/C++)
112 deprecated 52.59 % 60.42 % 50.61 % 0.06 s 1 core @ 2.5 Ghz (C/C++)
113 PFF3D
This method makes use of Velodyne laser scans.
52.53 % 62.12 % 50.27 % 0.05 s GPU @ 3.0 Ghz (Python + C/C++)
114 ResNet-RRC 52.09 % 66.44 % 47.51 % 0.11 s GPU @ 1.5 Ghz (Python + C/C++)
115 PKRCNN 51.96 % 60.31 % 49.70 % 0.01s 1 core @ 2.5 Ghz (Python)
ERROR: Wrong syntax in BIBTEX file.
116 SF
This method uses stereo information.
This method makes use of Velodyne laser scans.
51.83 % 67.73 % 47.45 % 0.5 s 1 core @ 2.5 Ghz (Python)
ERROR: Wrong syntax in BIBTEX file.
117 Disp R-CNN
This method uses stereo information.
code 51.36 % 68.93 % 46.79 % 0.42 s GPU @ 2.5 Ghz (Python + C/C++)
J. Sun, L. Chen, Y. Xie, S. Zhang, Q. Jiang, X. Zhou and H. Bao: Disp R-CNN: Stereo 3D Object Detection via Shape Prior Guided Instance Disparity Estimation. CVPR 2020.
118 TBD 51.31 % 61.14 % 47.82 % 0.05 s GPU @ 2.5 Ghz (Python)
119 Disp R-CNN (velo)
This method uses stereo information.
code 51.31 % 68.84 % 46.80 % 0.42 s GPU @ 2.5 Ghz (Python + C/C++)
J. Sun, L. Chen, Y. Xie, S. Zhang, Q. Jiang, X. Zhou and H. Bao: Disp R-CNN: Stereo 3D Object Detection via Shape Prior Guided Instance Disparity Estimation. CVPR 2020.
120 Shift R-CNN (mono) code 51.30 % 70.86 % 46.37 % 0.25 s GPU @ 1.5 Ghz (Python)
A. Naiden, V. Paunescu, G. Kim, B. Jeon and M. Leordeanu: Shift R-CNN: Deep Monocular 3D Object Detection With Closed-form Geometric Constraints. ICIP 2019.
121 ResNet-RRC (pruned) 51.12 % 65.47 % 46.53 % 0.11 s GPU @ 1.5 Ghz (Python + C/C++)
122 PVNet 50.50 % 60.58 % 48.48 % 0,1 s 1 core @ 2.5 Ghz (Python)
123 AF_MCLS 49.95 % 62.85 % 45.78 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
124 SCNet
This method makes use of Velodyne laser scans.
49.61 % 60.95 % 46.91 % 0.04 s GPU @ 3.0 Ghz (Python)
Z. Wang, H. Fu, L. Wang, L. Xiao and B. Dai: SCNet: Subdivision Coding Network for Object Detection Based on 3D Point Cloud. IEEE Access 2019.
125 yolo_depth 49.47 % 67.23 % 44.99 % 0.07 s GPU @ 2.5 Ghz (Python)
126 MMLab-PointRCNN
This method makes use of Velodyne laser scans.
code 49.41 % 58.93 % 46.44 % 0.1 s GPU @ 2.5 Ghz (Python + C/C++)
S. Shi, X. Wang and H. Li: Pointrcnn: 3d object proposal generation and detection from point cloud. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition 2019.
127 Center3D 48.76 % 67.15 % 44.05 % 0.05 s GPU @ 3.5 Ghz (Python)
128 ACFD
This method makes use of Velodyne laser scans.
code 48.63 % 61.62 % 44.15 % 0.2 s 4 cores @ >3.5 Ghz (C/C++)
M. Dimitrievski, P. Veelaert and W. Philips: Semantically aware multilateral filter for depth upsampling in automotive LiDAR point clouds. IEEE Intelligent Vehicles Symposium, IV 2017, Los Angeles, CA, USA, June 11-14, 2017 2017.
129 R-CNN 48.57 % 62.88 % 43.05 % 4 s GPU @ 3.3 Ghz (C/C++)
J. Hosang, M. Omran, R. Benenson and B. Schiele: Taking a Deeper Look at Pedestrians. arXiv 2015.
130 IGRP+ 48.46 % 59.37 % 44.82 % 0.18 s 1 core @ 2.5 Ghz (Python + C/C++)
131 yolo_rgb 48.45 % 64.50 % 43.95 % 0.07 s GPU @ 2.5 Ghz (Python)
132 MonoFlex 47.58 % 62.64 % 43.15 % 0.03 s GPU @ 2.5 Ghz (Python)
133 PBASN code 46.75 % 54.38 % 44.58 % NA s GPU @ 2.5 Ghz (Python)
134 NLK-3D 46.33 % 59.46 % 43.88 % 0.04 s 1 core @ 2.5 Ghz (Python + C/C++)
135 SS3D 45.79 % 61.58 % 41.14 % 48 ms Tesla V100 (Python)
E. Jörgensen, C. Zach and F. Kahl: Monocular 3D Object Detection and Box Fitting Trained End-to-End Using Intersection-over-Union Loss. CoRR 2019.
136 ACF 45.67 % 59.81 % 40.88 % 1 s 1 core @ 3.5 Ghz (Matlab + C/C++)
P. Doll\'ar, R. Appel, S. Belongie and P. Perona: Fast Feature Pyramids for Object Detection. PAMI 2014.
137 NLK-ALL code 45.27 % 56.86 % 41.08 % 0.04 s 1 core @ 2.5 Ghz (Python + C/C++)
138 NL_M3D 45.03 % 58.46 % 39.22 % 0.2 s 1 core @ 2.5 Ghz (Python)
139 Fusion-DPM
This method makes use of Velodyne laser scans.
code 44.99 % 58.93 % 40.19 % ~ 30 s 1 core @ 3.5 Ghz (Matlab + C/C++)
C. Premebida, J. Carreira, J. Batista and U. Nunes: Pedestrian Detection Combining RGB and Dense LIDAR Data. IROS 2014.
140 CBi-GNN-persons 44.88 % 58.17 % 40.50 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
141 ACF-MR 44.79 % 58.29 % 39.94 % 0.6 s 1 core @ 3.5 Ghz (C/C++)
R. Rajaram, E. Ohn-Bar and M. Trivedi: Looking at Pedestrians at Different Scales: A Multi-resolution Approach and Evaluations. T-ITS 2016.
142 Deprecated 44.65 % 60.33 % 38.51 % Deprecated Deprecated
143 yyyyolo 44.55 % 60.74 % 39.96 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
ERROR: Wrong syntax in BIBTEX file.
144 HA-SSVM 43.87 % 58.76 % 38.81 % 21 s 1 core @ >3.5 Ghz (Matlab + C/C++)
J. Xu, S. Ramos, D. Vázquez and A. López: Hierarchical Adaptive Structural SVM for Domain Adaptation. IJCV 2016.
145 FCY
This method makes use of Velodyne laser scans.
43.87 % 56.43 % 39.87 % 0.02 s GPU @ 2.5 Ghz (Python)
146 AB3DMOT
This method makes use of Velodyne laser scans.
This is an online method (no batch processing).
code 43.86 % 54.55 % 40.99 % 0.0047s 1 core @ 2.5 Ghz (python)
X. Weng and K. Kitani: A Baseline for 3D Multi-Object Tracking. arXiv:1907.03961 2019.
147 MonoEF code 43.73 % 58.79 % 39.45 % 0.03 s 1 core @ 2.5 Ghz (Python)
148 DAMono3D 43.57 % 59.80 % 39.23 % 0.09s 1 core @ 2.5 Ghz (C/C++)
149 D4LCN code 43.50 % 59.55 % 37.12 % 0.2 s GPU @ 2.5 Ghz (Python + C/C++)
M. Ding, Y. Huo, H. Yi, Z. Wang, J. Shi, Z. Lu and P. Luo: Learning Depth-Guided Convolutions for Monocular 3D Object Detection. CVPR 2020.
150 DAMNET code 43.42 % 56.05 % 41.16 % 1 s 1 core @ 2.5 Ghz (C/C++)
151 Pointpillar_TV 43.29 % 53.06 % 41.14 % 0.05 s 1 core @ 2.5 Ghz (C/C++)
152 DPM-VOC+VP 43.26 % 59.21 % 38.12 % 8 s 1 core @ 2.5 Ghz (C/C++)
B. Pepik, M. Stark, P. Gehler and B. Schiele: Multi-view and 3D Deformable Part Models. IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI) 2015.
153 ACF-SC 42.97 % 53.30 % 38.12 % <0.3 s 1 core @ >3.5 Ghz (Matlab + C/C++)
C. Cadena, A. Dick and I. Reid: A Fast, Modular Scene Understanding System using Context-Aware Object Detection. Robotics and Automation (ICRA), 2015 IEEE International Conference on 2015.
154 SparVox3D 42.73 % 55.22 % 38.08 % 0.05 s GPU @ 2.0 Ghz (Python)
155 SquaresICF code 42.61 % 57.08 % 37.85 % 1 s GPU @ >3.5 Ghz (C/C++)
R. Benenson, M. Mathias, T. Tuytelaars and L. Gool: Seeking the strongest rigid detector. CVPR 2013.
156 CG-Stereo
This method uses stereo information.
42.54 % 54.64 % 38.45 % 0.57 s GeForce RTX 2080 Ti
C. Li, J. Ku and S. Waslander: Confidence Guided Stereo 3D Object Detection with Split Depth Estimation. IROS 2020.
157 DP3D 42.33 % 57.82 % 38.11 % 0.05 s GPU @ 1.5 Ghz (Python + C/C++)
158 BirdNet+
This method makes use of Velodyne laser scans.
code 41.97 % 51.38 % 40.15 % 0.1 s Titan Xp (PyTorch)
A. Barrera, C. Guindel, J. Beltrán and F. García: BirdNet+: End-to-End 3D Object Detection in LiDAR Bird's Eye View. arXiv:2003.04188 [cs.CV] 2020.
159 DP3D 41.71 % 55.28 % 35.73 % 0.07 s GPU @ 1.5 Ghz (Python + C/C++)
160 DDMP-3D 41.54 % 56.73 % 35.52 % 0.18 s 1 core @ 2.5 Ghz (Python)
161 CSW3D
This method makes use of Velodyne laser scans.
41.50 % 53.76 % 37.25 % 0.03 s 4 cores @ 2.5 Ghz (C/C++)
J. Hu, T. Wu, H. Fu, Z. Wang and K. Ding: Cascaded Sliding Window Based Real-Time 3D Region Proposal for Pedestrian Detection. ROBIO 2019.
162 M3D-RPN(S-R) 41.46 % 56.64 % 37.31 % 0.16 s GPU @ 1.5 Ghz (Python)
163 M3D-RPN code 41.46 % 56.64 % 37.31 % 0.16 s GPU @ 1.5 Ghz (Python)
G. Brazil and X. Liu: M3D-RPN: Monocular 3D Region Proposal Network for Object Detection . ICCV 2019 .
164 Stereo3D
This method uses stereo information.
41.46 % 56.20 % 37.07 % 0.1 s GPU 1080Ti
165 MP-Mono 41.04 % 56.05 % 36.99 % 0.16 s GPU @ 2.5 Ghz (Python)
166 SubCat 40.50 % 53.75 % 35.66 % 1.2 s 6 cores @ 2.5 Ghz (Matlab + C/C++)
E. Ohn-Bar and M. Trivedi: Fast and Robust Object Detection Using Visual Subcategories. Computer Vision and Pattern Recognition Workshops Mobile Vision 2014.
167 DSGN
This method uses stereo information.
code 39.93 % 49.28 % 38.13 % 0.67 s NVIDIA Tesla V100
Y. Chen, S. Liu, X. Shen and J. Jia: DSGN: Deep Stereo Geometry Network for 3D Object Detection. CVPR 2020.
168 RT3D-GMP
This method uses stereo information.
39.83 % 55.56 % 35.18 % 0.06 s GPU @ 2.5 Ghz (Python + C/C++)
169 SparsePool code 39.59 % 50.81 % 35.91 % 0.13 s 8 cores @ 2.5 Ghz (Python)
Z. Wang, W. Zhan and M. Tomizuka: Fusing bird view lidar point cloud and front view camera image for deep object detection. arXiv preprint arXiv:1711.06703 2017.
170 SparsePool code 39.43 % 50.94 % 35.78 % 0.13 s 8 cores @ 2.5 Ghz (Python)
Z. Wang, W. Zhan and M. Tomizuka: Fusing bird view lidar point cloud and front view camera image for deep object detection. arXiv preprint arXiv:1711.06703 2017.
171 AVOD
This method makes use of Velodyne laser scans.
code 39.43 % 50.90 % 35.75 % 0.08 s Titan X (pascal)
J. Ku, M. Mozifian, J. Lee, A. Harakeh and S. Waslander: Joint 3D Proposal Generation and Object Detection from View Aggregation. IROS 2018.
172 PG-MonoNet 39.38 % 48.57 % 35.43 % 0.19 s GPU @ 2.5 Ghz (Python)
173 ACF 39.12 % 48.42 % 35.03 % 0.2 s 1 core @ >3.5 Ghz (Matlab + C/C++)
P. Doll\'ar, R. Appel, S. Belongie and P. Perona: Fast Feature Pyramids for Object Detection. PAMI 2014.
P. Doll\'ar: Piotr's Image and Video Matlab Toolbox (PMT). .
174 OSE
This method uses stereo information.
38.62 % 50.26 % 34.87 % 0.1 s GPU @ 2.5 Ghz (C/C++)
175 LSVM-MDPM-sv 37.26 % 50.74 % 33.13 % 10 s 4 cores @ 3.0 Ghz (C/C++)
P. Felzenszwalb, R. Girshick, D. McAllester and D. Ramanan: Object Detection with Discriminatively Trained Part-Based Models. PAMI 2010.
A. Geiger, C. Wojek and R. Urtasun: Joint 3D Estimation of Objects and Scene Layout. NIPS 2011.
176 multi-task CNN 37.00 % 49.38 % 33.46 % 25.1 ms GPU @ 2.0 Ghz (Python)
M. Oeljeklaus, F. Hoffmann and T. Bertram: A Fast Multi-Task CNN for Spatial Understanding of Traffic Scenes. IEEE Intelligent Transportation Systems Conference 2018.
177 Complexer-YOLO
This method makes use of Velodyne laser scans.
36.45 % 42.16 % 32.91 % 0.06 s GPU @ 3.5 Ghz (C/C++)
M. Simon, K. Amende, A. Kraus, J. Honer, T. Samann, H. Kaulbersch, S. Milz and H. Michael Gross: Complexer-YOLO: Real-Time 3D Object Detection and Tracking on Semantic Point Clouds. The IEEE Conference on Computer Vision and Pattern Recognition (CVPR) Workshops 2019.
178 LAPNet 36.22 % 48.96 % 32.27 % 0.03 s 1 core @ 2.5 Ghz (Python)
179 LSVM-MDPM-us code 35.92 % 48.73 % 31.70 % 10 s 4 cores @ 3.0 Ghz (C/C++)
P. Felzenszwalb, R. Girshick, D. McAllester and D. Ramanan: Object Detection with Discriminatively Trained Part-Based Models. PAMI 2010.
180 Vote3D
This method makes use of Velodyne laser scans.
33.04 % 42.66 % 30.59 % 0.5 s 4 cores @ 2.8 Ghz (C/C++)
D. Wang and I. Posner: Voting for Voting in Online Point Cloud Object Detection. Proceedings of Robotics: Science and Systems 2015.
181 FADNet code 32.64 % 42.43 % 29.13 % 0.04 s GPU @ >3.5 Ghz (Python)
182 CaDDN 32.42 % 46.35 % 29.98 % 0.63 s GPU @ 2.5 Ghz (Python)
183 FPIOD
This method makes use of Velodyne laser scans.
code 30.96 % 45.07 % 28.48 % 0.05 s 1 core @ 2.5 Ghz (C/C++)
184 OC Stereo
This method uses stereo information.
code 30.79 % 43.50 % 28.40 % 0.35 s 1 core @ 2.5 Ghz (Python + C/C++)
A. Pon, J. Ku, C. Li and S. Waslander: Object-Centric Stereo Matching for 3D Object Detection. ICRA 2020.
185 mBoW
This method makes use of Velodyne laser scans.
30.26 % 41.52 % 26.34 % 10 s 1 core @ 2.5 Ghz (C/C++)
J. Behley, V. Steinhage and A. Cremers: Laser-based Segment Classification Using a Mixture of Bag-of-Words. Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2013.
186 BirdNet
This method makes use of Velodyne laser scans.
30.07 % 36.82 % 28.40 % 0.11 s Titan Xp (Caffe)
J. Beltrán, C. Guindel, F. Moreno, D. Cruzado, F. García and A. Escalera: BirdNet: A 3D Object Detection Framework from LiDAR Information. 2018 21st International Conference on Intelligent Transportation Systems (ITSC) 2018.
187 RT3DStereo
This method uses stereo information.
29.30 % 41.12 % 25.25 % 0.08 s GPU @ 2.5 Ghz (C/C++)
H. Königshof, N. Salscheider and C. Stiller: Realtime 3D Object Detection for Automated Driving Using Stereo Vision and Semantic Information. Proc. IEEE Intl. Conf. Intelligent Transportation Systems 2019.
188 DPM-C8B1
This method uses stereo information.
25.34 % 36.40 % 22.00 % 15 s 4 cores @ 2.5 Ghz (Matlab + C/C++)
J. Yebes, L. Bergasa and M. García-Garrido: Visual Object Recognition with 3D-Aware Features in KITTI Urban Scenes. Sensors 2015.
J. Yebes, L. Bergasa, R. Arroyo and A. Lázaro: Supervised learning and evaluation of KITTI's cars detector with DPM. IV 2014.
189 RefinedMPL 20.81 % 30.41 % 18.72 % 0.15 s GPU @ 2.5 Ghz (Python + C/C++)
J. Vianney, S. Aich and B. Liu: RefinedMPL: Refined Monocular PseudoLiDAR for 3D Object Detection in Autonomous Driving. arXiv preprint arXiv:1911.09712 2019.
190 TopNet-Retina
This method makes use of Velodyne laser scans.
16.45 % 22.37 % 15.43 % 52ms GeForce 1080Ti (tensorflow-gpu, v1.12)
S. Wirges, T. Fischer, C. Stiller and J. Frias: Object Detection and Classification in Occupancy Grid Maps Using Deep Convolutional Networks. 2018 21st International Conference on Intelligent Transportation Systems (ITSC) 2018.
191 TopNet-HighRes
This method makes use of Velodyne laser scans.
15.28 % 21.22 % 13.89 % 101ms NVIDIA GeForce 1080 Ti (tensorflow-gpu)
S. Wirges, T. Fischer, C. Stiller and J. Frias: Object Detection and Classification in Occupancy Grid Maps Using Deep Convolutional Networks. 2018 21st International Conference on Intelligent Transportation Systems (ITSC) 2018.
192 YOLOv2 code 11.46 % 15.37 % 9.67 % 0.02 s GPU @ 3.5 Ghz (C/C++)
J. Redmon, S. Divvala, R. Girshick and A. Farhadi: You only look once: Unified, real-time object detection. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition 2016.
J. Redmon and A. Farhadi: YOLO9000: Better, Faster, Stronger. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition 2017.
193 TopNet-UncEst
This method makes use of Velodyne laser scans.
8.58 % 13.00 % 7.38 % 0.09 s NVIDIA GeForce 1080 Ti (tensorflow-gpu)
S. Wirges, M. Braun, M. Lauer and C. Stiller: Capturing Object Detection Uncertainty in Multi-Layer Grid Maps. 2019.
194 BIP-HETERO 7.05 % 8.51 % 6.30 % ~2 s 1 core @ 2.5 Ghz (C/C++)
A. Mekonnen, F. Lerasle, A. Herbulot and C. Briand: People Detection with Heterogeneous Features and Explicit Optimization on Computation Time. Pattern Recognition (ICPR), 2014 22nd International Conference on 2014.
195 CBNet 1.33 % 1.03 % 1.41 % 1 s 4 cores @ 2.5 Ghz (Python)
196 TopNet-DecayRate
This method makes use of Velodyne laser scans.
0.01 % 0.01 % 0.01 % 92 ms NVIDIA GeForce 1080 Ti (tensorflow-gpu)
S. Wirges, T. Fischer, C. Stiller and J. Frias: Object Detection and Classification in Occupancy Grid Maps Using Deep Convolutional Networks. 2018 21st International Conference on Intelligent Transportation Systems (ITSC) 2018.
197 UM3D_TUM 0.00 % 0.00 % 0.00 % 0.05 s 1 core @ 2.5 Ghz (Python)
Table as LaTeX | Only published Methods

Cyclist


Method Setting Code Moderate Easy Hard Runtime Environment
1 HRI-MSP-L
This method makes use of Velodyne laser scans.
83.08 % 92.12 % 75.62 % 0.07 s 1 core @ 2.5 Ghz (C/C++)
2 HRI-ADLab-HZ-AFree 82.54 % 91.47 % 75.88 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
3 Fast VP-RCNN code 81.71 % 89.49 % 74.98 % 0.05 s 1 core @ >3.5 Ghz (python)
4 RangeIoUDet
This method makes use of Velodyne laser scans.
81.67 % 90.43 % 74.90 % 0.02 s 1 core @ 2.5 Ghz (Python)
5 DSA-PV-RCNN
This method makes use of Velodyne laser scans.
80.57 % 88.65 % 74.81 % 0.08 s 1 core @ 2.5 Ghz (Python + C/C++)
6 MMLab PV-RCNN
This method makes use of Velodyne laser scans.
code 80.42 % 86.62 % 73.64 % 0.08 s 1 core @ 2.5 Ghz (Python + C/C++)
S. Shi, C. Guo, L. Jiang, Z. Wang, J. Shi, X. Wang and H. Li: PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detection. CVPR 2020.
7 HRI-ADLab-HZ 80.36 % 89.70 % 73.36 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
8 XView-PartA^2 80.16 % 88.15 % 73.92 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
9 PV-RCNN-v2 79.22 % 85.76 % 72.35 % 0.06 s 1 core @ 2.5 Ghz (Python + C/C++)
10 Noah CV Lab - SSL 79.10 % 86.71 % 69.66 % 0.1 s GPU @ 2.5 Ghz (Python)
11 HotSpotNet 78.81 % 86.06 % 71.74 % 0.04 s 1 core @ 2.5 Ghz (Python + C/C++)
Q. Chen, L. Sun, Z. Wang, K. Jia and A. Yuille: object as hotspots. Proceedings of the European Conference on Computer Vision (ECCV) 2020.
12 TBD 78.73 % 88.55 % 71.87 % 0.07 s 1 core @ 2.5 Ghz (Python + C/C++)
13 MMLab-PartA^2
This method makes use of Velodyne laser scans.
code 78.29 % 88.90 % 71.19 % 0.08 s GPU @ 2.5 Ghz (Python + C/C++)
S. Shi, Z. Wang, J. Shi, X. Wang and H. Li: From Points to Parts: 3D Object Detection from Point Cloud with Part-aware and Part-aggregation Network. IEEE Transactions on Pattern Analysis and Machine Intelligence 2020.
14 CVRS VIC-RCNN 78.27 % 88.66 % 72.05 % 0.08 s 1 core @ 2.5 Ghz (C/C++)
15 F-ConvNet
This method makes use of Velodyne laser scans.
code 78.05 % 86.75 % 68.12 % 0.47 s GPU @ 2.5 Ghz (Python + C/C++)
Z. Wang and K. Jia: Frustum ConvNet: Sliding Frustums to Aggregate Local Point-Wise Features for Amodal 3D Object Detection. IROS 2019.
16 PointPainting
This method makes use of Velodyne laser scans.
78.04 % 87.70 % 69.27 % 0.4 s GPU @ 2.5 Ghz (Python + C/C++)
S. Vora, A. Lang, B. Helou and O. Beijbom: PointPainting: Sequential Fusion for 3D Object Detection. CVPR 2020.
17 CBi-GNN-persons 77.89 % 88.05 % 69.54 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
18 MMCOM 77.43 % 85.83 % 68.34 % 0.04 s 1 core @ 2.5 Ghz (Python)
19 TBD 77.34 % 87.15 % 70.53 % 0.05 s GPU @ 2.5 Ghz (Python)
20 CVIS-DF3D_v2 76.98 % 86.55 % 70.29 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
21 MSL3D 76.96 % 85.93 % 70.41 % 0.03 s GPU @ 2.5 Ghz (Python)
22 FSA-PVRCNN
This method makes use of Velodyne laser scans.
76.95 % 84.41 % 71.00 % 0.06 s 1 core @ 2.5 Ghz (C/C++)
23 SVGA-Net
This method makes use of Velodyne laser scans.
76.83 % 86.14 % 70.98 % 0.08 s GPU @ 2.5 Ghz (Python + C/C++)
24 RRC code 76.81 % 86.81 % 66.59 % 3.6 s GPU @ 2.5 Ghz (C/C++)
J. Ren, X. Chen, J. Liu, W. Sun, J. Pang, Q. Yan, Y. Tai and L. Xu: Accurate Single Stage Detector Using Recurrent Rolling Convolution. CVPR 2017.
25 KNN-GCNN 76.52 % 88.83 % 69.82 % 0.4 s 1 core @ 2.5 Ghz (Python + C/C++)
26 CVRS VIC-Net 76.47 % 85.99 % 70.98 % 0.06 s 1 core @ 2.5 Ghz (C/C++)
27 PKRCNN 76.34 % 86.90 % 69.83 % 0.01s 1 core @ 2.5 Ghz (Python)
ERROR: Wrong syntax in BIBTEX file.
28 deprecated 76.14 % 84.03 % 70.81 % 0.06 s 1 core @ 2.5 Ghz (C/C++)
29 HWFD 75.54 % 85.88 % 66.85 % 0.21 s one 1080Ti
30 MVX-Net++ 75.41 % 86.78 % 68.49 % 0.15 s 1 core @ 2.5 Ghz (C/C++)
31 MS-CNN code 75.30 % 84.88 % 65.27 % 0.4 s GPU @ 2.5 Ghz (C/C++)
Z. Cai, Q. Fan, R. Feris and N. Vasconcelos: A Unified Multi-scale Deep Convolutional Neural Network for Fast Object Detection. ECCV 2016.
32 RethinkDet3D 75.22 % 89.04 % 66.47 % 0.15 s 1 core @ 2.5 Ghz (Python)
33 TuSimple code 75.22 % 83.68 % 65.22 % 1.6 s GPU @ 2.5 Ghz (Python + C/C++)
F. Yang, W. Choi and Y. Lin: Exploit all the layers: Fast and accurate cnn object detector with scale dependent pooling and cascaded rejection classifiers. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition 2016.
K. He, X. Zhang, S. Ren and J. Sun: Deep residual learning for image recognition. Proceedings of the IEEE conference on computer vision and pattern recognition 2016.
34 Point-GNN
This method makes use of Velodyne laser scans.
code 75.08 % 85.75 % 68.69 % 0.6 s GPU @ 2.5 Ghz (Python)
W. Shi and R. Rajkumar: Point-GNN: Graph Neural Network for 3D Object Detection in a Point Cloud. CVPR 2020.
35 PP-3D 75.08 % 85.75 % 68.69 % 0.1 s 1 core @ 2.5 Ghz (Python)
36 NLK-ALL code 74.83 % 87.37 % 68.05 % 0.04 s 1 core @ 2.5 Ghz (Python + C/C++)
37 Deep3DBox 74.78 % 84.36 % 64.05 % 1.5 s GPU @ 2.5 Ghz (C/C++)
A. Mousavian, D. Anguelov, J. Flynn and J. Kosecka: 3D Bounding Box Estimation Using Deep Learning and Geometry. CVPR 2017.
38 PPBA 74.46 % 86.45 % 69.15 % NA s GPU @ 2.5 Ghz (Python)
39 TBU 74.46 % 86.45 % 69.15 % NA s GPU @ 2.5 Ghz (Python)
40 3DBN_2 74.34 % 88.48 % 67.66 % 0.12 s 1 core @ 2.5 Ghz (C/C++)
ERROR: Wrong syntax in BIBTEX file.
41 3DSSD code 74.12 % 87.09 % 67.67 % 0.04 s GPU @ 2.5 Ghz (Python + C/C++)
Z. Yang, Y. Sun, S. Liu and J. Jia: 3DSSD: Point-based 3D Single Stage Object Detector. CVPR 2020.
42 SDP+RPN 73.85 % 82.59 % 64.87 % 0.4 s GPU @ 2.5 Ghz (Python + C/C++)
F. Yang, W. Choi and Y. Lin: Exploit All the Layers: Fast and Accurate CNN Object Detector with Scale Dependent Pooling and Cascaded Rejection Classifiers. Proceedings of the IEEE International Conference on Computer Vision and Pattern Recognition 2016.
S. Ren, K. He, R. Girshick and J. Sun: Faster R-CNN: Towards real-time object detection with region proposal networks. Advances in Neural Information Processing Systems 2015.
43 Baseline of CA RCNN 73.69 % 85.39 % 66.94 % 0.1 s GPU @ 2.5 Ghz (Python)
44 CVIS-DF3D 73.69 % 85.39 % 66.94 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
45 SRDL
This method uses stereo information.
This method makes use of Velodyne laser scans.
73.68 % 85.44 % 66.94 % 0.15 s GPU @ 2.5 Ghz (Python + C/C++)
46 MGACNet 73.66 % 85.45 % 67.10 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
47 dgist_multiDetNet 73.57 % 87.95 % 64.65 % 0.08 s GPU Titanx Pascal (Python)
48 sensekitti code 73.48 % 82.90 % 64.03 % 4.5 s GPU @ 2.5 Ghz (Python + C/C++)
B. Yang, J. Yan, Z. Lei and S. Li: Craft Objects from Images. CVPR 2016.
49 GAP-soft-filter 73.45 % 85.13 % 66.08 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
50 MMLab-PointRCNN
This method makes use of Velodyne laser scans.
code 73.42 % 86.21 % 66.45 % 0.1 s GPU @ 2.5 Ghz (Python + C/C++)
S. Shi, X. Wang and H. Li: Pointrcnn: 3d object proposal generation and detection from point cloud. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition 2019.
51 F-PointNet
This method makes use of Velodyne laser scans.
code 73.16 % 86.86 % 65.21 % 0.17 s GPU @ 3.0 Ghz (Python)
C. Qi, W. Liu, C. Wu, H. Su and L. Guibas: Frustum PointNets for 3D Object Detection from RGB-D Data. arXiv preprint arXiv:1711.08488 2017.
52 DGIST MT-CNN 72.57 % 86.82 % 63.47 % 0.09 s GPU @ 1.0 Ghz (Python)
53 ZEEWAIN-AI 72.25 % 83.84 % 63.80 % 0.3 s GPU @ 2.5 Ghz (Python)
54 MonoPSR code 72.08 % 82.06 % 62.43 % 0.2 s GPU @ 3.5 Ghz (Python)
J. Ku*, A. Pon* and S. Waslander: Monocular 3D Object Detection Leveraging Accurate Proposals and Shape Reconstruction. CVPR 2019.
55 ARPNET 71.95 % 84.96 % 65.21 % 0.08 s GPU @ 2.5 Ghz (Python + C/C++)
Y. Ye, C. Zhang and X. Hao: ARPNET: attention region proposal network for 3D object detection. Science China Information Sciences 2019.
56 SubCNN 71.72 % 79.36 % 62.74 % 2 s GPU @ 3.5 Ghz (Python + C/C++)
Y. Xiang, W. Choi, Y. Lin and S. Savarese: Subcategory-aware Convolutional Neural Networks for Object Proposals and Detection. IEEE Winter Conference on Applications of Computer Vision (WACV) 2017.
57 STD code 71.63 % 83.99 % 64.92 % 0.08 s GPU @ 2.5 Ghz (Python + C/C++)
Z. Yang, Y. Sun, S. Liu, X. Shen and J. Jia: STD: Sparse-to-Dense 3D Object Detector for Point Cloud. ICCV 2019.
58 PVNet 71.10 % 83.89 % 65.08 % 0,1 s 1 core @ 2.5 Ghz (Python)
59 Multi-task DG 70.98 % 80.96 % 62.18 % 0.06 s GPU @ 2.5 Ghz (Python)
60 Faster RCNN + Gr + A 70.78 % 83.99 % 63.36 % 1.29 s GPU @ 2.5 Ghz (Python)
61 NLK-3D 70.55 % 85.92 % 63.76 % 0.04 s 1 core @ 2.5 Ghz (Python + C/C++)
62 PBASN code 70.21 % 83.96 % 65.10 % NA s GPU @ 2.5 Ghz (Python)
63 AB3DMOT
This method makes use of Velodyne laser scans.
This is an online method (no batch processing).
code 70.18 % 82.86 % 63.55 % 0.0047s 1 core @ 2.5 Ghz (Python)
X. Weng and K. Kitani: A Baseline for 3D Multi-Object Tracking. arXiv:1907.03961 2019.
64 PF-GAP 70.11 % 86.24 % 63.26 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
65 FCY
This method makes use of Velodyne laser scans.
70.05 % 83.02 % 63.63 % 0.02 s GPU @ 2.5 Ghz (Python)
66 CCFNET 69.17 % 83.76 % 62.87 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
ERROR: Wrong syntax in BIBTEX file.
67 PointPillars
This method makes use of Velodyne laser scans.
code 68.98 % 83.97 % 62.17 % 16 ms 1080ti GPU and Intel i7 CPU
A. Lang, S. Vora, H. Caesar, L. Zhou, J. Yang and O. Beijbom: PointPillars: Fast Encoders for Object Detection from Point Clouds. CVPR 2019.
68 CentrNet-FG 68.88 % 83.29 % 61.47 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
69 Vote3Deep
This method makes use of Velodyne laser scans.
68.82 % 78.41 % 62.50 % 1.5 s 4 cores @ 2.5 Ghz (C/C++)
M. Engelcke, D. Rao, D. Zeng Wang, C. Hay Tong and I. Posner: Vote3Deep: Fast Object Detection in 3D Point Clouds Using Efficient Convolutional Neural Networks. ArXiv e-prints 2016.
70 3DOP
This method uses stereo information.
code 68.71 % 80.52 % 61.07 % 3s GPU @ 2.5 Ghz (Matlab + C/C++)
X. Chen, K. Kundu, Y. Zhu, A. Berneshawi, H. Ma, S. Fidler and R. Urtasun: 3D Object Proposals for Accurate Object Class Detection. NIPS 2015.
71 Pose-RCNN 68.40 % 81.53 % 59.43 % 2 s >8 cores @ 2.5 Ghz (Python)
M. Braun, Q. Rao, Y. Wang and F. Flohr: Pose-RCNN: Joint object detection and pose estimation using 3D object proposals. Intelligent Transportation Systems (ITSC), 2016 IEEE 19th International Conference on 2016.
72 TANet code 68.20 % 82.24 % 62.13 % 0.035s GPU @ 2.5 Ghz (Python + C/C++)
Z. Liu, X. Zhao, T. Huang, R. Hu, Y. Zhou and X. Bai: TANet: Robust 3D Object Detection from Point Clouds with Triple Attention. AAAI 2020.
73 VICNet 68.07 % 86.63 % 61.03 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
74 AF_MCLS 67.97 % 85.45 % 60.95 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
75 IVA code 67.57 % 78.48 % 58.83 % 0.4 s GPU @ 2.5 Ghz (C/C++)
Y. Zhu, J. Wang, C. Zhao, H. Guo and H. Lu: Scale-adaptive Deconvolutional Regression Network for Pedestrian Detection. ACCV 2016.
S. Ren, K. He, R. Girshick and J. Sun: Faster R-CNN: Towards real-time object detection with region proposal networks. Advances in neural information processing systems 2015.
76 IGRP+ 67.56 % 83.94 % 61.15 % 0.18 s 1 core @ 2.5 Ghz (Python + C/C++)
77 DeepStereoOP 67.22 % 79.35 % 58.60 % 3.4 s GPU @ 3.5 Ghz (Matlab + C/C++)
C. Pham and J. Jeon: Robust Object Proposals Re-ranking for Object Detection in Autonomous Driving Using Convolutional Neural Networks. Signal Processing: Image Communiation 2017.
78 Faster RCNN + A 67.15 % 83.77 % 59.85 % 0.19 s GPU @ 2.5 Ghz (Python + C/C++)
79 FII-CenterNet 66.54 % 79.04 % 57.76 % 0.09 s GPU @ 2.5 Ghz (Python)
80 epBRM
This method makes use of Velodyne laser scans.
code 66.51 % 79.65 % 60.31 % 0.10 s 1 core @ 2.5 Ghz (C/C++)
K. Shin: Improving a Quality of 3D Object Detection by Spatial Transformation Mechanism. arXiv preprint arXiv:1910.04853 2019.
81 PFF3D
This method makes use of Velodyne laser scans.
66.25 % 79.44 % 60.11 % 0.05 s GPU @ 3.0 Ghz (Python + C/C++)
82 Pointpillar_TV 66.20 % 79.86 % 59.73 % 0.05 s 1 core @ 2.5 Ghz (C/C++)
83 HR-faster-rcnn 65.53 % 83.49 % 58.13 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
84 Mono3D code 65.15 % 77.19 % 57.88 % 4.2 s GPU @ 2.5 Ghz (Matlab + C/C++)
X. Chen, K. Kundu, Z. Zhang, H. Ma, S. Fidler and R. Urtasun: Monocular 3D Object Detection for Autonomous Driving. CVPR 2016.
85 Simple3D Net 64.77 % 79.60 % 58.48 % 0.02 s GPU @ 2.5 Ghz (Python)
86 Mono3CN 63.29 % 81.46 % 56.27 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
87 Faster R-CNN code 62.86 % 72.40 % 54.97 % 2 s GPU @ 3.5 Ghz (Python + C/C++)
S. Ren, K. He, R. Girshick and J. Sun: Faster R-CNN: Towards Real- Time Object Detection with Region Proposal Networks. NIPS 2015.
88 SCNet
This method makes use of Velodyne laser scans.
62.50 % 78.48 % 56.34 % 0.04 s GPU @ 3.0 Ghz (Python)
Z. Wang, H. Fu, L. Wang, L. Xiao and B. Dai: SCNet: Subdivision Coding Network for Object Detection Based on 3D Point Cloud. IEEE Access 2019.
89 UDI-mono3D 62.26 % 79.20 % 53.95 % 0.05 s 1 core @ 2.5 Ghz (Python)
90 AVOD-FPN
This method makes use of Velodyne laser scans.
code 60.79 % 70.38 % 55.37 % 0.1 s Titan X (Pascal)
J. Ku, M. Mozifian, J. Lee, A. Harakeh and S. Waslander: Joint 3D Proposal Generation and Object Detection from View Aggregation. IROS 2018.
91 SDP+CRC (ft) 60.72 % 75.63 % 53.00 % 0.6 s GPU @ 2.5 Ghz (C/C++)
F. Yang, W. Choi and Y. Lin: Exploit All the Layers: Fast and Accurate CNN Object Detector with Scale Dependent Pooling and Cascaded Rejection Classifiers. Proceedings of the IEEE International Conference on Computer Vision and Pattern Recognition 2016.
92 Complexer-YOLO
This method makes use of Velodyne laser scans.
59.78 % 66.94 % 55.63 % 0.06 s GPU @ 3.5 Ghz (C/C++)
M. Simon, K. Amende, A. Kraus, J. Honer, T. Samann, H. Kaulbersch, S. Milz and H. Michael Gross: Complexer-YOLO: Real-Time 3D Object Detection and Tracking on Semantic Point Clouds. The IEEE Conference on Computer Vision and Pattern Recognition (CVPR) Workshops 2019.
93 UDI-mono3D 59.44 % 77.70 % 51.49 % 0.05 s 1 core @ 2.5 Ghz (Python)
94 Regionlets 58.52 % 71.12 % 50.83 % 1 s >8 cores @ 2.5 Ghz (C/C++)
X. Wang, M. Yang, S. Zhu and Y. Lin: Regionlets for Generic Object Detection. T-PAMI 2015.
W. Zou, X. Wang, M. Sun and Y. Lin: Generic Object Detection with Dense Neural Patterns and Regionlets. British Machine Vision Conference 2014.
C. Long, X. Wang, G. Hua, M. Yang and Y. Lin: Accurate Object Detection with Location Relaxation and Regionlets Relocalization. Asian Conference on Computer Vision 2014.
95 DAM 58.41 % 76.09 % 49.93 % 1 s GPU @ 2.5 Ghz (Python)
96 PMN 57.22 % 74.63 % 49.82 % 0.2 s 1 core @ 2.5 Ghz (Python)
97 GA_FULLDATA 57.20 % 75.50 % 50.26 % 1 s 4 cores @ 2.5 Ghz (Python)
98 FRCNN+Or code 57.01 % 70.99 % 50.14 % 0.09 s Titan Xp GPU
C. Guindel, D. Martin and J. Armingol: Fast Joint Object Detection and Viewpoint Estimation for Traffic Scene Understanding. IEEE Intelligent Transportation Systems Magazine 2018.
C. Guindel, D. Martin and J. Armingol: Joint Object Detection and Viewpoint Estimation using CNN features. IEEE International Conference on Vehicular Electronics and Safety (ICVES) 2017.
99 MonoPair 56.37 % 74.77 % 48.37 % 0.06 s GPU @ 2.5 Ghz (Python + C/C++)
Y. Chen, L. Tai, K. Sun and M. Li: MonoPair: Monocular 3D Object Detection Using Pairwise Spatial Relationships. The IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2020.
100 GA_BALANCE 56.07 % 78.33 % 49.02 % 1 s 1 core @ 2.5 Ghz (Python)
101 MLOD
This method makes use of Velodyne laser scans.
code 56.04 % 75.35 % 49.11 % 0.12 s GPU @ 1.5 Ghz (Python)
J. Deng and K. Czarnecki: MLOD: A multi-view 3D object detection based on robust feature fusion method. arXiv preprint arXiv:1909.04163 2019.
102 yolo4_5l 55.42 % 75.21 % 48.57 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
103 EACV 55.01 % 73.41 % 48.75 % 0.04 s 1 core @ 2.5 Ghz (Python + C/C++)
104 MonoFlex 54.76 % 72.41 % 46.21 % 0.03 s GPU @ 2.5 Ghz (Python)
105 BirdNet+
This method makes use of Velodyne laser scans.
code 54.61 % 74.97 % 50.29 % 0.1 s Titan Xp (PyTorch)
A. Barrera, C. Guindel, J. Beltrán and F. García: BirdNet+: End-to-End 3D Object Detection in LiDAR Bird's Eye View. arXiv:2003.04188 [cs.CV] 2020.
106 GA-Aug 54.46 % 68.81 % 47.71 % 0.04 s GPU @ 2.5 Ghz (Python)
107 GAA 54.24 % 71.23 % 47.41 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
ERROR: Wrong syntax in BIBTEX file.
108 NL_M3D 53.51 % 71.09 % 47.07 % 0.2 s 1 core @ 2.5 Ghz (Python)
109 DLE 53.29 % 70.78 % 45.01 % 0.04 s GPU @ 2.5 Ghz (Python)
110 DAMNET code 52.93 % 71.01 % 48.56 % 1 s 1 core @ 2.5 Ghz (C/C++)
111 AVOD
This method makes use of Velodyne laser scans.
code 52.60 % 66.45 % 46.39 % 0.08 s Titan X (pascal)
J. Ku, M. Mozifian, J. Lee, A. Harakeh and S. Waslander: Joint 3D Proposal Generation and Object Detection from View Aggregation. IROS 2018.
112 GAFM 51.40 % 73.43 % 44.61 % 0.5 s 1 core @ 2.5 Ghz (Python)
113 JSU-NET 51.10 % 72.92 % 44.26 % 0.1 s 1 core @ 2.5 Ghz (Python)
114 yolo4 50.62 % 71.71 % 44.18 % 0.02 s 1 core @ 2.5 Ghz (Python)
115 CDI3D 50.29 % 63.72 % 43.95 % 0.03 s GPU @ 2.5 Ghz (Python)
116 MonoRUn 49.13 % 67.47 % 43.41 % 0.07 s GPU @ 2.5 Ghz (Python + C/C++)
117 Mag 48.91 % 68.41 % 42.87 % 0.07 s 1 core @ 2.5 Ghz (C/C++)
118 yolo4 48.67 % 67.33 % 43.00 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
119 CG-Stereo
This method uses stereo information.
48.46 % 69.98 % 42.41 % 0.57 s GeForce RTX 2080 Ti
C. Li, J. Ku and S. Waslander: Confidence Guided Stereo 3D Object Detection with Split Depth Estimation. IROS 2020.
120 MP-Mono 48.38 % 65.58 % 39.97 % 0.16 s GPU @ 2.5 Ghz (Python)
121 yolo4_5l code 48.38 % 69.14 % 42.16 % 0.02 s 1 core @ 2.5 Ghz (Python + C/C++)
122 MTMono3d 47.71 % 67.12 % 38.84 % 0.05 s 1 core @ 2.5 Ghz (C/C++)
123 BirdNet
This method makes use of Velodyne laser scans.
47.64 % 64.91 % 44.59 % 0.11 s Titan Xp (Caffe)
J. Beltrán, C. Guindel, F. Moreno, D. Cruzado, F. García and A. Escalera: BirdNet: A 3D Object Detection Framework from LiDAR Information. 2018 21st International Conference on Intelligent Transportation Systems (ITSC) 2018.
124 SparsePool code 44.57 % 60.53 % 40.37 % 0.13 s 8 cores @ 2.5 Ghz (Python)
Z. Wang, W. Zhan and M. Tomizuka: Fusing bird view lidar point cloud and front view camera image for deep object detection. arXiv preprint arXiv:1711.06703 2017.
125 Deprecated 44.26 % 63.15 % 37.38 % Deprecated Deprecated
126 DAMono3D 43.98 % 63.35 % 39.14 % 0.09s 1 core @ 2.5 Ghz (C/C++)
127 FADNet code 43.40 % 59.77 % 37.28 % 0.04 s GPU @ >3.5 Ghz (Python)
128 Scan_YOLO 43.39 % 64.82 % 37.77 % 0.1 s 4 cores @ 3.0 Ghz (Python)
129 ResNet-RRC (pruned) 43.35 % 58.81 % 37.68 % 0.11 s GPU @ 1.5 Ghz (Python + C/C++)
130 Shift R-CNN (mono) code 42.96 % 63.24 % 38.22 % 0.25 s GPU @ 1.5 Ghz (Python)
A. Naiden, V. Paunescu, G. Kim, B. Jeon and M. Leordeanu: Shift R-CNN: Deep Monocular 3D Object Detection With Closed-form Geometric Constraints. ICIP 2019.
131 ResNet-RRC 42.88 % 58.72 % 37.74 % 0.11 s GPU @ 1.5 Ghz (Python + C/C++)
132 D4LCN code 42.86 % 65.29 % 36.29 % 0.2 s GPU @ 2.5 Ghz (Python + C/C++)
M. Ding, Y. Huo, H. Yi, Z. Wang, J. Shi, Z. Lu and P. Luo: Learning Depth-Guided Convolutions for Monocular 3D Object Detection. CVPR 2020.
133 Disp R-CNN (velo)
This method uses stereo information.
code 42.25 % 58.27 % 36.90 % 0.42 s GPU @ 2.5 Ghz (Python + C/C++)
J. Sun, L. Chen, Y. Xie, S. Zhang, Q. Jiang, X. Zhou and H. Bao: Disp R-CNN: Stereo 3D Object Detection via Shape Prior Guided Instance Disparity Estimation. CVPR 2020.
134 Disp R-CNN
This method uses stereo information.
code 42.23 % 58.26 % 36.88 % 0.42 s GPU @ 2.5 Ghz (Python + C/C++)
J. Sun, L. Chen, Y. Xie, S. Zhang, Q. Jiang, X. Zhou and H. Bao: Disp R-CNN: Stereo 3D Object Detection via Shape Prior Guided Instance Disparity Estimation. CVPR 2020.
135 yolo_rgb 41.59 % 62.22 % 37.32 % 0.07 s GPU @ 2.5 Ghz (Python)
136 M3D-RPN code 41.54 % 61.54 % 35.23 % 0.16 s GPU @ 1.5 Ghz (Python)
G. Brazil and X. Liu: M3D-RPN: Monocular 3D Region Proposal Network for Object Detection . ICCV 2019 .
137 MonoEF code 41.19 % 51.06 % 35.70 % 0.03 s 1 core @ 2.5 Ghz (Python)
138 Center3D 40.99 % 65.34 % 36.50 % 0.05 s GPU @ 3.5 Ghz (Python)
139 MV-RGBD-RF
This method makes use of Velodyne laser scans.
40.94 % 51.10 % 34.83 % 4 s 4 cores @ 2.5 Ghz (C/C++)
A. Gonzalez, D. Vazquez, A. Lopez and J. Amores: On-Board Object Detection: Multicue, Multimodal, and Multiview Random Forest of Local Experts.. IEEE Trans. on Cybernetics 2016.
A. Gonzalez, G. Villalonga, J. Xu, D. Vazquez, J. Amores and A. Lopez: Multiview Random Forest of Local Experts Combining RGB and LIDAR data for Pedestrian Detection. IEEE Intelligent Vehicles Symposium (IV) 2015.
140 DDMP-3D 38.62 % 58.70 % 34.10 % 0.18 s 1 core @ 2.5 Ghz (Python)
141 DP3D 37.13 % 53.50 % 32.82 % 0.05 s GPU @ 1.5 Ghz (Python + C/C++)
142 yolo_depth 36.89 % 50.88 % 32.64 % 0.07 s GPU @ 2.5 Ghz (Python)
143 SparsePool code 36.26 % 44.21 % 32.57 % 0.13 s 8 cores @ 2.5 Ghz (Python)
Z. Wang, W. Zhan and M. Tomizuka: Fusing bird view lidar point cloud and front view camera image for deep object detection. arXiv preprint arXiv:1711.06703 2017.
144 PG-MonoNet 36.09 % 47.28 % 32.15 % 0.19 s GPU @ 2.5 Ghz (Python)
145 DP3D 36.05 % 52.18 % 30.19 % 0.07 s GPU @ 1.5 Ghz (Python + C/C++)
146 LAPNet 35.62 % 53.46 % 29.27 % 0.03 s 1 core @ 2.5 Ghz (Python)
147 SS3D 35.48 % 52.97 % 31.07 % 48 ms Tesla V100 (Python)
E. Jörgensen, C. Zach and F. Kahl: Monocular 3D Object Detection and Box Fitting Trained End-to-End Using Intersection-over-Union Loss. CoRR 2019.
148 DSGN
This method uses stereo information.
code 35.15 % 49.10 % 31.41 % 0.67 s NVIDIA Tesla V100
Y. Chen, S. Liu, X. Shen and J. Jia: DSGN: Deep Stereo Geometry Network for 3D Object Detection. CVPR 2020.
149 pAUCEnsT 34.90 % 50.51 % 30.35 % 60 s 1 core @ 2.5 Ghz (Matlab + C/C++)
S. Paisitkriangkrai, C. Shen and A. Hengel: Pedestrian Detection with Spatially Pooled Features and Structured Ensemble Learning. arXiv 2014.
150 TopNet-Retina
This method makes use of Velodyne laser scans.
31.98 % 47.51 % 29.84 % 52ms GeForce 1080Ti (tensorflow-gpu, v1.12)
S. Wirges, T. Fischer, C. Stiller and J. Frias: Object Detection and Classification in Occupancy Grid Maps Using Deep Convolutional Networks. 2018 21st International Conference on Intelligent Transportation Systems (ITSC) 2018.
151 OSE
This method uses stereo information.
28.78 % 45.05 % 25.66 % 0.1 s GPU @ 2.5 Ghz (C/C++)
152 OC Stereo
This method uses stereo information.
code 28.76 % 43.18 % 24.80 % 0.35 s 1 core @ 2.5 Ghz (Python + C/C++)
A. Pon, J. Ku, C. Li and S. Waslander: Object-Centric Stereo Matching for 3D Object Detection. ICRA 2020.
153 Vote3D
This method makes use of Velodyne laser scans.
27.99 % 39.81 % 25.19 % 0.5 s 4 cores @ 2.8 Ghz (C/C++)
D. Wang and I. Posner: Voting for Voting in Online Point Cloud Object Detection. Proceedings of Robotics: Science and Systems 2015.
154 LSVM-MDPM-us code 27.81 % 37.66 % 24.83 % 10 s 4 cores @ 3.0 Ghz (C/C++)
P. Felzenszwalb, R. Girshick, D. McAllester and D. Ramanan: Object Detection with Discriminatively Trained Part-Based Models. PAMI 2010.
155 DPM-VOC+VP 27.73 % 41.58 % 24.61 % 8 s 1 core @ 2.5 Ghz (C/C++)
B. Pepik, M. Stark, P. Gehler and B. Schiele: Multi-view and 3D Deformable Part Models. IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI) 2015.
156 RefinedMPL 27.17 % 44.47 % 22.84 % 0.15 s GPU @ 2.5 Ghz (Python + C/C++)
J. Vianney, S. Aich and B. Liu: RefinedMPL: Refined Monocular PseudoLiDAR for 3D Object Detection in Autonomous Driving. arXiv preprint arXiv:1911.09712 2019.
157 CaDDN 27.13 % 40.03 % 23.23 % 0.63 s GPU @ 2.5 Ghz (Python)
158 LSVM-MDPM-sv 26.05 % 35.70 % 23.56 % 10 s 4 cores @ 3.0 Ghz (C/C++)
P. Felzenszwalb, R. Girshick, D. McAllester and D. Ramanan: Object Detection with Discriminatively Trained Part-Based Models. PAMI 2010.
A. Geiger, C. Wojek and R. Urtasun: Joint 3D Estimation of Objects and Scene Layout. NIPS 2011.
159 DPM-C8B1
This method uses stereo information.
25.57 % 41.47 % 21.93 % 15 s 4 cores @ 2.5 Ghz (Matlab + C/C++)
J. Yebes, L. Bergasa and M. García-Garrido: Visual Object Recognition with 3D-Aware Features in KITTI Urban Scenes. Sensors 2015.
J. Yebes, L. Bergasa, R. Arroyo and A. Lázaro: Supervised learning and evaluation of KITTI's cars detector with DPM. IV 2014.
160 BdCost+DA+BB+MS 25.52 % 33.92 % 21.14 % TBD s 4 cores @ 2.5 Ghz (C/C++)
161 FPIOD
This method makes use of Velodyne laser scans.
code 23.10 % 37.02 % 19.66 % 0.05 s 1 core @ 2.5 Ghz (C/C++)
162 RT3D-GMP
This method uses stereo information.
22.90 % 33.64 % 19.87 % 0.06 s GPU @ 2.5 Ghz (Python + C/C++)
163 BdCost+DA+BB 20.00 % 26.87 % 16.76 % TBD s 4 cores @ 2.5 Ghz (C/C++)
164 mBoW
This method makes use of Velodyne laser scans.
17.63 % 26.66 % 16.02 % 10 s 1 core @ 2.5 Ghz (C/C++)
J. Behley, V. Steinhage and A. Cremers: Laser-based Segment Classification Using a Mixture of Bag-of-Words. Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2013.
165 TopNet-HighRes
This method makes use of Velodyne laser scans.
13.98 % 22.86 % 14.52 % 101ms NVIDIA GeForce 1080 Ti (tensorflow-gpu)
S. Wirges, T. Fischer, C. Stiller and J. Frias: Object Detection and Classification in Occupancy Grid Maps Using Deep Convolutional Networks. 2018 21st International Conference on Intelligent Transportation Systems (ITSC) 2018.
166 RT3DStereo
This method uses stereo information.
12.96 % 19.58 % 11.47 % 0.08 s GPU @ 2.5 Ghz (C/C++)
H. Königshof, N. Salscheider and C. Stiller: Realtime 3D Object Detection for Automated Driving Using Stereo Vision and Semantic Information. Proc. IEEE Intl. Conf. Intelligent Transportation Systems 2019.
167 yyyyolo 12.52 % 16.29 % 11.07 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
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168 TopNet-UncEst
This method makes use of Velodyne laser scans.
12.00 % 18.14 % 11.85 % 0.09 s NVIDIA GeForce 1080 Ti (tensorflow-gpu)
S. Wirges, M. Braun, M. Lauer and C. Stiller: Capturing Object Detection Uncertainty in Multi-Layer Grid Maps. 2019.
169 CBNet 0.39 % 0.24 % 0.44 % 1 s 4 cores @ 2.5 Ghz (Python)
170 YOLOv2 code 0.06 % 0.15 % 0.07 % 0.02 s GPU @ 3.5 Ghz (C/C++)
J. Redmon, S. Divvala, R. Girshick and A. Farhadi: You only look once: Unified, real-time object detection. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition 2016.
J. Redmon and A. Farhadi: YOLO9000: Better, Faster, Stronger. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition 2017.
171 TopNet-DecayRate
This method makes use of Velodyne laser scans.
0.04 % 0.00 % 0.04 % 92 ms NVIDIA GeForce 1080 Ti (tensorflow-gpu)
S. Wirges, T. Fischer, C. Stiller and J. Frias: Object Detection and Classification in Occupancy Grid Maps Using Deep Convolutional Networks. 2018 21st International Conference on Intelligent Transportation Systems (ITSC) 2018.
172 UM3D_TUM 0.00 % 0.00 % 0.00 % 0.05 s 1 core @ 2.5 Ghz (Python)
Table as LaTeX | Only published Methods

Object Detection and Orientation Estimation Evaluation

Cars


Method Setting Code Moderate Easy Hard Runtime Environment
1 CLOCs_PVCas 95.79 % 96.74 % 90.81 % 0.1 s 1 core @ 2.5 Ghz (Python)
S. Pang, D. Morris and H. Radha: CLOCs: Camera-LiDAR Object Candidates Fusion for 3D Object Detection . 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2020.
2 EA-M-RCNN(BorderAtt) 95.44 % 96.37 % 90.31 % 0.08 s 1 core @ 2.5 Ghz (C/C++)
3 HUAWEI Octopus 95.40 % 96.29 % 92.67 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
4 SE-SSD
This method makes use of Velodyne laser scans.
95.17 % 96.55 % 90.00 % 0.03 s 1 core @ 2.5 Ghz (Python + C/C++)
5 SPANet 95.03 % 96.31 % 89.99 % 0.06 s 1 core @ 2.5 Ghz (C/C++)
6 Voxel R-CNN 94.96 % 96.47 % 92.24 % 0.04 s GPU @ 3.0 Ghz (C/C++)
7 PV-RCNN-v2 94.90 % 96.07 % 92.22 % 0.06 s 1 core @ 2.5 Ghz (Python + C/C++)
8 MSG-PGNN 94.81 % 95.97 % 92.26 % 0.08 s 1 core @ 2.5 Ghz (C/C++)
9 Fast VP-RCNN code 94.81 % 96.00 % 92.06 % 0.05 s 1 core @ >3.5 Ghz (python)
10 SimpleDET 94.79 % 95.97 % 92.23 % 0.08 s 1 core @ 2.5 Ghz (C/C++)
11 MMLab PV-RCNN
This method makes use of Velodyne laser scans.
code 94.57 % 98.15 % 91.85 % 0.08 s 1 core @ 2.5 Ghz (Python + C/C++)
S. Shi, C. Guo, L. Jiang, Z. Wang, J. Shi, X. Wang and H. Li: PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detection. CVPR 2020.
12 CVRS VIC-Net 94.55 % 95.78 % 91.67 % 0.06 s 1 core @ 2.5 Ghz (C/C++)
13 PC-RGNN 94.55 % 95.79 % 92.03 % 0.1 s GPU @ 2.5 Ghz (Python + C/C++)
14 DSA-PV-RCNN
This method makes use of Velodyne laser scans.
94.52 % 95.84 % 91.93 % 0.08 s 1 core @ 2.5 Ghz (Python + C/C++)
15 ReFineNet 94.49 % 95.74 % 91.97 % 0.08 s 1 core @ 2.5 Ghz (Python)
16 nonet 94.48 % 95.85 % 91.64 % 0.08 s 1 core @ 2.5 Ghz (C/C++)
17 HyBrid Feature Det 94.47 % 95.75 % 92.00 % 0.08 s 1 core @ 2.5 Ghz (Python + C/C++)
18 MSL3D 94.46 % 95.74 % 91.94 % 0.03 s GPU @ 2.5 Ghz (Python)
19 Multi-Sensor3D 94.46 % 95.74 % 91.94 % 0.03 s GPU @ 2.5 Ghz (Python)
20 MVRA + I-FRCNN+ 94.46 % 95.66 % 81.74 % 0.18 s GPU @ 2.5 Ghz (Python)
H. Choi, H. Kang and Y. Hyun: Multi-View Reprojection Architecture for Orientation Estimation. The IEEE International Conference on Computer Vision (ICCV) Workshops 2019.
21 MGACNet 94.44 % 95.33 % 91.55 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
22 FSA-PVRCNN
This method makes use of Velodyne laser scans.
94.43 % 95.76 % 91.77 % 0.06 s 1 core @ 2.5 Ghz (C/C++)
23 RangeIoUDet
This method makes use of Velodyne laser scans.
94.42 % 95.69 % 91.70 % 0.02 s 1 core @ 2.5 Ghz (Python)
24 RangeRCNN-LV 94.37 % 95.92 % 91.85 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
25 PF-GAP 94.31 % 96.10 % 89.92 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
26 CVRS VIC-RCNN 94.29 % 95.88 % 91.77 % 0.08 s 1 core @ 2.5 Ghz (C/C++)
27 SERCNN
This method makes use of Velodyne laser scans.
94.24 % 96.31 % 89.71 % 0.1 s 1 core @ 2.5 Ghz (Python)
D. Zhou, J. Fang, X. Song, L. Liu, J. Yin, Y. Dai, H. Li and R. Yang: Joint 3D Instance Segmentation and Object Detection for Autonomous Driving. Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition 2020.
28 CVRS_PF 94.23 % 95.55 % 91.21 % 0.09 s 1 core @ 2.5 Ghz (C/C++)
29 EPNet code 94.22 % 96.13 % 89.68 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
T. Huang, Z. Liu, X. Chen and X. Bai: EPNet: Enhancing Point Features with Image Semantics for 3D Object Detection. ECCV 2020.
30 D3D 94.18 % 95.22 % 89.14 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
31 CVIS-DF3D_v2 94.16 % 95.68 % 91.45 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
32 SVGA-Net
This method makes use of Velodyne laser scans.
94.13 % 95.68 % 91.48 % 0.08 s GPU @ 2.5 Ghz (Python + C/C++)
33 SRDL
This method uses stereo information.
This method makes use of Velodyne laser scans.
94.08 % 95.83 % 91.55 % 0.15 s GPU @ 2.5 Ghz (Python + C/C++)
34 Baseline of CA RCNN 94.07 % 95.82 % 91.54 % 0.1 s GPU @ 2.5 Ghz (Python)
35 CVIS-DF3D 94.07 % 95.82 % 91.54 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
36 GAP-soft-filter 94.04 % 95.78 % 91.27 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
37 tbd code 94.03 % 95.66 % 91.20 % 0.08 s 1 core @ 2.5 Ghz (C/C++)
38 RangeRCNN
This method makes use of Velodyne laser scans.
93.90 % 95.47 % 91.53 % 0.06 s GPU @ 2.5 Ghz (Python + C/C++)
Z. Liang, M. Zhang, Z. Zhang, X. Zhao and S. Pu: RangeRCNN: Towards Fast and Accurate 3D Object Detection with Range Image Representation. arXiv preprint arXiv:2009.00206 2020.
39 HRI-MSP-L
This method makes use of Velodyne laser scans.
93.82 % 95.50 % 91.27 % 0.07 s 1 core @ 2.5 Ghz (C/C++)
40 AF_V1 93.77 % 94.45 % 86.25 % 0.1 s 1 core @ 2.5 Ghz (Python)
41 XView-PartA^2 93.59 % 95.41 % 91.09 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
42 HRI-ADLab-HZ 93.58 % 96.68 % 88.53 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
43 Patches - EMP
This method makes use of Velodyne laser scans.
93.58 % 97.88 % 90.31 % 0.5 s GPU @ 2.5 Ghz (Python)
J. Lehner, A. Mitterecker, T. Adler, M. Hofmarcher, B. Nessler and S. Hochreiter: Patch Refinement: Localized 3D Object Detection. arXiv preprint arXiv:1910.04093 2019.
44 TBD 93.53 % 95.30 % 91.03 % 0.07 s 1 core @ 2.5 Ghz (Python + C/C++)
45 Associate-3Ddet_v2 93.46 % 96.66 % 88.20 % 0.04 s 1 core @ 2.5 Ghz (Python)
46 VAL 93.45 % 96.83 % 83.46 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
47 OAP 93.35 % 96.56 % 85.69 % 0.06 s 1 core @ 2.5 Ghz (C/C++)
48 CIA-SSD
This method makes use of Velodyne laser scans.
93.34 % 96.65 % 85.76 % 0.03 s 1 core @ 2.5 Ghz (Python + C/C++)
49 Deep MANTA 93.31 % 98.83 % 82.95 % 0.7 s GPU @ 2.5 Ghz (Python + C/C++)
F. Chabot, M. Chaouch, J. Rabarisoa, C. Teulière and T. Chateau: Deep MANTA: A Coarse-to-fine Many-Task Network for joint 2D and 3D vehicle analysis from monocular image. CVPR 2017.
50 CIA-SSD v2
This method makes use of Velodyne laser scans.
93.22 % 96.53 % 87.81 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
51 deprecated 93.22 % 96.75 % 85.64 % deprecated deprecated
52 CBi-GNN 93.16 % 98.70 % 87.97 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
53 PointRes
This method makes use of Velodyne laser scans.
93.15 % 96.57 % 90.04 % 0.013 s 1 core @ 2.5 Ghz (Python + C/C++)
54 AIMC-RUC 93.14 % 96.64 % 87.92 % 0.08 s 1 core @ 2.5 Ghz (C/C++)
55 CJJ 93.14 % 96.59 % 90.16 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
56 FCY
This method makes use of Velodyne laser scans.
93.08 % 96.51 % 87.90 % 0.02 s GPU @ 2.5 Ghz (Python)
57 ISF 93.05 % 96.52 % 90.08 % 0.05 s 1 core @ 2.5 Ghz (C/C++)
58 LZnet 92.99 % 96.50 % 87.54 % 0.08 s 1 core @ 2.5 Ghz (Python + C/C++)
59 CM3DV 92.98 % 96.47 % 87.68 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
60 MVX-Net++ 92.93 % 96.16 % 87.69 % 0.15 s 1 core @ 2.5 Ghz (C/C++)
61 HVPR 92.89 % 95.89 % 87.65 % 0.02 s GPU @ 2.5 Ghz (Python)
62 EBM3DOD 92.88 % 96.39 % 87.58 % 0.08 s 1 core @ 2.5 Ghz (Python)
63 scssd-normal(0.3) 92.88 % 96.44 % 87.67 % 0.05 s GPU @ 2.5 Ghz (Python)
P. An, J. Liang, J. Ma, K. Yu and B. Fang: SCSSD for multi sensor fusion 3d object detection method. Submitted to Information Science 2020.
64 Cas-SSD 92.83 % 96.38 % 87.64 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
65 FLID 92.77 % 95.64 % 85.00 % 0.04 s GPU @ 2.5 Ghz (Python)
66 HotSpotNet 92.74 % 96.20 % 89.68 % 0.04 s 1 core @ 2.5 Ghz (Python + C/C++)
Q. Chen, L. Sun, Z. Wang, K. Jia and A. Yuille: object as hotspots. Proceedings of the European Conference on Computer Vision (ECCV) 2020.
67 scssd-normal(0.4) 92.71 % 96.24 % 87.55 % 0.05 s 1 core @ 2.5 Ghz (Python)
P. An, J. Liang, J. Ma, K. Yu and B. Fang: SCSSD for multi sensor fusion 3d object detection method. Submitted to Information Science 2020.
68 EBM3DOD baseline 92.70 % 96.31 % 87.44 % 0.08 s 1 core @ 2.5 Ghz (Python)
69 IGRP 92.66 % 96.27 % 87.63 % 0.18 s 1 core @ 2.5 Ghz (Python + C/C++)
70 deprecated 92.66 % 95.52 % 91.39 % 0.06 s 1 core @ 2.5 Ghz (C/C++)
71 SARPNET 92.58 % 95.82 % 87.33 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
Y. Ye, H. Chen, C. Zhang, X. Hao and Z. Zhang: SARPNET: Shape Attention Regional Proposal Network for LiDAR-based 3D Object Detection. Neurocomputing 2019.
72 Patches
This method makes use of Velodyne laser scans.
92.57 % 96.31 % 87.41 % 0.15 s GPU @ 2.0 Ghz
J. Lehner, A. Mitterecker, T. Adler, M. Hofmarcher, B. Nessler and S. Hochreiter: Patch Refinement: Localized 3D Object Detection. arXiv preprint arXiv:1910.04093 2019.
73 R-GCN 92.53 % 96.16 % 87.45 % 0.16 s GPU @ 2.5 Ghz (Python)
J. Zarzar, S. Giancola and B. Ghanem: PointRGCN: Graph Convolution Networks for 3D Vehicles Detection Refinement. ArXiv 2019.
74 PI-RCNN 92.52 % 96.15 % 87.47 % 0.1 s 1 core @ 2.5 Ghz (Python)
L. Xie, C. Xiang, Z. Yu, G. Xu, Z. Yang, D. Cai and X. He: PI-RCNN: An Efficient Multi-sensor 3D Object Detector with Point-based Attentive Cont-conv Fusion Module. AAAI 2020 : The Thirty-Fourth AAAI Conference on Artificial Intelligence 2020.
75 CenterNet3D 92.48 % 95.71 % 89.54 % 0.04 s GPU @ 1.5 Ghz (Python)
G. Wang, B. Tian, Y. Ai, T. Xu, L. Chen and D. Cao: CenterNet3D:An Anchor free Object Detector for Autonomous Driving. 2020.
76 Discrete-PointDet 92.48 % 95.89 % 87.08 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
77 PointPainting
This method makes use of Velodyne laser scans.
92.43 % 98.36 % 89.49 % 0.4 s GPU @ 2.5 Ghz (Python + C/C++)
S. Vora, A. Lang, B. Helou and O. Beijbom: PointPainting: Sequential Fusion for 3D Object Detection. CVPR 2020.
78 3D IoU-Net 92.42 % 96.31 % 87.60 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
J. Li, S. Luo, Z. Zhu, H. Dai, S. Krylov, Y. Ding and L. Shao: 3D IoU-Net: IoU Guided 3D Object Detector for Point Clouds. arXiv preprint arXiv:2004.04962 2020.
79 CLOCs_SecCas 92.37 % 95.16 % 88.43 % 0.1 s 1 core @ 2.5 Ghz (Python)
S. Pang, D. Morris and H. Radha: CLOCs: Camera-LiDAR Object Candidates Fusion for 3D Object Detection. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2020.
80 VAR 92.28 % 95.08 % 89.42 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
81 NLK-ALL code 92.27 % 95.49 % 87.34 % 0.04 s 1 core @ 2.5 Ghz (Python + C/C++)
82 DASS 92.25 % 96.20 % 87.26 % 0.09 s 1 core @ 2.0 Ghz (Python)
O. Unal, L. Gool and D. Dai: Improving Point Cloud Semantic Segmentation by Learning 3D Object Detection. 2020.
83 LZY_RCNN 92.18 % 93.57 % 89.61 % 0.08 s 1 core @ 2.5 Ghz (C/C++)
84 SegVoxelNet 92.16 % 95.86 % 86.90 % 0.04 s 1 core @ 2.5 Ghz (Python)
H. Yi, S. Shi, M. Ding, J. Sun, K. Xu, H. Zhou, Z. Wang, S. Li and G. Wang: SegVoxelNet: Exploring Semantic Context and Depth-aware Features for 3D Vehicle Detection from Point Cloud. ICRA 2020.
85 PointRGCN 92.15 % 97.48 % 86.83 % 0.26 s GPU @ V100 (Python)
J. Zarzar, S. Giancola and B. Ghanem: PointRGCN: Graph Convolution Networks for 3D Vehicles Detection Refinement. ArXiv 2019.
86 NLK-3D 92.15 % 95.20 % 87.13 % 0.04 s 1 core @ 2.5 Ghz (Python + C/C++)
87 RethinkDet3D 92.04 % 95.68 % 86.97 % 0.15 s 1 core @ 2.5 Ghz (Python)
88 MDA 92.01 % 94.87 % 89.31 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
89 PVNet 92.00 % 94.82 % 89.08 % 0,1 s 1 core @ 2.5 Ghz (Python)
90 F-ConvNet
This method makes use of Velodyne laser scans.
code 91.98 % 95.81 % 79.83 % 0.47 s GPU @ 2.5 Ghz (Python + C/C++)
Z. Wang and K. Jia: Frustum ConvNet: Sliding Frustums to Aggregate Local Point-Wise Features for Amodal 3D Object Detection. IROS 2019.
91 TBD 91.97 % 93.46 % 89.36 % 0.05 s GPU @ 2.5 Ghz (Python)
92 PointCSE 91.95 % 95.52 % 86.75 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
93 CCFNET 91.90 % 95.79 % 88.82 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
94 AB3DMOT
This method makes use of Velodyne laser scans.
This is an online method (no batch processing).
code 91.87 % 95.86 % 86.78 % 0.0047s 1 core @ 2.5 Ghz (Python)
X. Weng and K. Kitani: A Baseline for 3D Multi-Object Tracking. arXiv:1907.03961 2019.
95 MMLab-PointRCNN
This method makes use of Velodyne laser scans.
code 91.77 % 95.90 % 86.92 % 0.1 s GPU @ 2.5 Ghz (Python + C/C++)
S. Shi, X. Wang and H. Li: Pointrcnn: 3d object proposal generation and detection from point cloud. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition 2019.
96 MMLab-PartA^2
This method makes use of Velodyne laser scans.
code 91.73 % 95.00 % 88.86 % 0.08 s GPU @ 2.5 Ghz (Python + C/C++)
S. Shi, Z. Wang, J. Shi, X. Wang and H. Li: From Points to Parts: 3D Object Detection from Point Cloud with Part-aware and Part-aggregation Network. IEEE Transactions on Pattern Analysis and Machine Intelligence 2020.
97 Pointpillar_TV 91.61 % 94.80 % 88.25 % 0.05 s 1 core @ 2.5 Ghz (C/C++)
98 C-GCN 91.57 % 95.63 % 86.13 % 0.147 s GPU @ V100 (Python)
J. Zarzar, S. Giancola and B. Ghanem: PointRGCN: Graph Convolution Networks for 3D Vehicles Detection Refinement. ArXiv 2019.
99 VOXEL_3D 91.52 % 94.49 % 86.23 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
100 V3D 91.44 % 94.45 % 86.22 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
101 TBD 91.42 % 95.56 % 86.05 % 0.04 s 1 core @ 2.5 Ghz (Python + C/C++)
102 tt code 91.38 % 95.14 % 88.39 % 0.08 s 1 core @ 2.5 Ghz (C/C++)
103 PKRCNN 91.38 % 95.30 % 88.77 % 0.01s 1 core @ 2.5 Ghz (Python)
ERROR: Wrong syntax in BIBTEX file.
104 CU-PointRCNN 91.25 % 97.24 % 86.85 % 0.1 s GPU @ 1.5 Ghz (Python + C/C++)
105 PFF3D
This method makes use of Velodyne laser scans.
91.06 % 94.86 % 86.28 % 0.05 s GPU @ 3.0 Ghz (Python + C/C++)
106 3DBN_2 91.05 % 94.89 % 88.42 % 0.12 s 1 core @ 2.5 Ghz (C/C++)
ERROR: Wrong syntax in BIBTEX file.
107 SC(DLA34+DCO)
This method uses stereo information.
91.02 % 96.54 % 83.15 % 0.07 s GPU @ 2.5 Ghz (Python)
108 VICNet 91.00 % 94.66 % 85.74 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
109 Mono3CN 90.96 % 94.22 % 82.86 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
110 MonoFlex 90.82 % 95.95 % 83.11 % 0.03 s GPU @ 2.5 Ghz (Python)
111 MAFF-Net(DAF-Pillar) 90.78 % 94.17 % 83.17 % 0.04 s 1 core @ 2.5 Ghz (Python + C/C++)
Z. Zhang, Z. Liang, M. Zhang, X. Zhao, Y. Ming, T. Wenming and S. Pu: MAFF-Net: Filter False Positive for 3D Vehicle Detection with Multi-modal Adaptive Feature Fusion. arXiv preprint arXiv:2009.10945 2020.
112 HRI-VoxelFPN 90.76 % 96.35 % 85.37 % 0.02 s GPU @ 2.5 Ghz (Python + C/C++)
H. Kuang, B. Wang, J. An, M. Zhang and Z. Zhang: Voxel-FPN:multi-scale voxel feature aggregation in 3D object detection from point clouds. sensors 2020.
113 SSL-RTM3D 90.70 % 96.34 % 80.72 % 0.03 s 1 core @ 2.5 Ghz (Python)
114 anonymous 90.70 % 96.46 % 82.39 % 1 s 1 core @ 2.5 Ghz (C/C++)
115 PointPillars
This method makes use of Velodyne laser scans.
code 90.70 % 93.84 % 87.47 % 16 ms 1080ti GPU and Intel i7 CPU
A. Lang, S. Vora, H. Caesar, L. Zhou, J. Yang and O. Beijbom: PointPillars: Fast Encoders for Object Detection from Point Clouds. CVPR 2019.
116 WS3D
This method makes use of Velodyne laser scans.
90.69 % 94.85 % 85.94 % 0.1 s GPU @ 2.5 Ghz (Python)
Q. Meng, W. Wang, T. Zhou, J. Shen, L. Van Gool and D. Dai: Weakly Supervised 3D Object Detection from Lidar Point Cloud. 2020.
117 MonoEF code 90.65 % 96.19 % 82.95 % 0.03 s 1 core @ 2.5 Ghz (Python)
118 DPointNet 90.50 % 93.70 % 85.40 % 0.09 s 1 core @ 2.5 Ghz (C/C++)
119 IGRP+ 90.31 % 96.01 % 87.41 % 0.18 s 1 core @ 2.5 Ghz (Python + C/C++)
120 autonet 90.31 % 93.30 % 87.00 % 0.12 s 1 core @ 2.5 Ghz (C/C++)
121 DLE 90.23 % 93.46 % 80.11 % 0.04 s GPU @ 2.5 Ghz (Python)
122 3D IoU Loss
This method makes use of Velodyne laser scans.
90.21 % 95.60 % 84.96 % 0.08 s GPU @ 2.5 Ghz (Python + C/C++)
D. Zhou, J. Fang, X. Song, C. Guan, J. Yin, Y. Dai and R. Yang: IoU Loss for 2D/3D Object Detection. International Conference on 3D Vision (3DV) 2019.
123 Bit 90.19 % 93.42 % 86.48 % 0.11 s 1 core @ 2.5 Ghz (C/C++)
124 ARPNET 90.11 % 93.42 % 82.56 % 0.08 s GPU @ 2.5 Ghz (Python + C/C++)
Y. Ye, C. Zhang and X. Hao: ARPNET: attention region proposal network for 3D object detection. Science China Information Sciences 2019.
125 TANet code 90.11 % 93.52 % 84.61 % 0.035s GPU @ 2.5 Ghz (Python + C/C++)
Z. Liu, X. Zhao, T. Huang, R. Hu, Y. Zhou and X. Bai: TANet: Robust 3D Object Detection from Point Clouds with Triple Attention. AAAI 2020.
126 EPENet 90.09 % 93.83 % 86.76 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
127 GA-Aug 90.06 % 93.61 % 83.39 % 0.04 s GPU @ 2.5 Ghz (Python)
128 CentrNet-FG 90.04 % 93.51 % 87.02 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
129 OCM3D 90.03 % 94.18 % 83.29 % 0.5 s 1 core @ 2.5 Ghz (C/C++)
130 CG-Stereo
This method uses stereo information.
89.98 % 96.28 % 82.21 % 0.57 s GeForce RTX 2080 Ti
C. Li, J. Ku and S. Waslander: Confidence Guided Stereo 3D Object Detection with Split Depth Estimation. IROS 2020.
131 Det3D 89.92 % 94.21 % 83.18 % 0.5 s 1 core @ 2.5 Ghz (C/C++)
132 Deep3DBox 89.88 % 94.62 % 76.40 % 1.5 s GPU @ 2.5 Ghz (C/C++)
A. Mousavian, D. Anguelov, J. Flynn and J. Kosecka: 3D Bounding Box Estimation Using Deep Learning and Geometry. CVPR 2017.
133 PointPiallars_SECA 89.86 % 92.96 % 86.46 % 0.06 s 1 core @ 2.5 Ghz (C/C++)
134 FADNet code 89.84 % 95.89 % 79.98 % 0.04 s GPU @ >3.5 Ghz (Python)
135 baseline 89.69 % 92.61 % 86.03 % 0.12 s 1 core @ 2.5 Ghz (C/C++)
136 GPP code 89.68 % 93.94 % 80.60 % 0.23 s GPU @ 1.5 Ghz (Python + C/C++)
A. Rangesh and M. Trivedi: Ground plane polling for 6dof pose estimation of objects on the road. arXiv preprint arXiv:1811.06666 2018.
137 SubCNN 89.53 % 94.11 % 79.14 % 2 s GPU @ 3.5 Ghz (Python + C/C++)
Y. Xiang, W. Choi, Y. Lin and S. Savarese: Subcategory-aware Convolutional Neural Networks for Object Proposals and Detection. IEEE Winter Conference on Applications of Computer Vision (WACV) 2017.
138 SCNet
This method makes use of Velodyne laser scans.
89.36 % 95.23 % 84.03 % 0.04 s GPU @ 3.0 Ghz (Python)
Z. Wang, H. Fu, L. Wang, L. Xiao and B. Dai: SCNet: Subdivision Coding Network for Object Detection Based on 3D Point Cloud. IEEE Access 2019.
139 RUC code 89.26 % 92.28 % 85.38 % 0.12 s 1 core @ 2.5 Ghz (C/C++)
140 AVOD
This method makes use of Velodyne laser scans.
code 89.22 % 94.98 % 82.14 % 0.08 s Titan X (pascal)
J. Ku, M. Mozifian, J. Lee, A. Harakeh and S. Waslander: Joint 3D Proposal Generation and Object Detection from View Aggregation. IROS 2018.
141 GAA 89.21 % 93.59 % 80.80 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
ERROR: Wrong syntax in BIBTEX file.
142 IAFA 89.14 % 92.96 % 79.40 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
143 MCA 88.91 % 92.91 % 79.11 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
144 RUC code 88.90 % 92.68 % 84.04 % 0.12 s 1 core @ 2.5 Ghz (C/C++)
145 AVOD-FPN
This method makes use of Velodyne laser scans.
code 88.61 % 94.65 % 83.71 % 0.1 s Titan X (Pascal)
J. Ku, M. Mozifian, J. Lee, A. Harakeh and S. Waslander: Joint 3D Proposal Generation and Object Detection from View Aggregation. IROS 2018.
146 PSMD 88.29 % 93.59 % 75.35 % 0.1 s GPU @ 2.5 Ghz (Python)
147 Prune 88.10 % 93.86 % 80.41 % 0.11 s 1 core @ 2.5 Ghz (C/C++)
148 autoRUC 88.03 % 93.80 % 80.36 % 0.12 s 1 core @ 2.5 Ghz (C/C++)
149 AACL 88.00 % 93.36 % 73.17 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
150 DeepStereoOP 87.81 % 93.68 % 77.60 % 3.4 s GPU @ 3.5 Ghz (Matlab + C/C++)
C. Pham and J. Jeon: Robust Object Proposals Re-ranking for Object Detection in Autonomous Driving Using Convolutional Neural Networks. Signal Processing: Image Communiation 2017.
151 MonoRUn 87.64 % 95.44 % 77.75 % 0.07 s GPU @ 2.5 Ghz (Python + C/C++)
152 3DBN
This method makes use of Velodyne laser scans.
87.59 % 93.34 % 79.91 % 0.13s 1080Ti (Python+C/C++)
X. Li, J. Guivant, N. Kwok and Y. Xu: 3D Backbone Network for 3D Object Detection. CoRR 2019.
153 tiny-stereo-v1
This method uses stereo information.
87.58 % 96.01 % 80.07 % 0.3 s GPU @ 2.5 Ghz (Python + C/C++)
154 ISF-v2 87.49 % 93.15 % 84.13 % 0.04 s 1 core @ 2.5 Ghz (Python)
155 FQNet 87.49 % 93.66 % 73.61 % 0.5 s 1 core @ 2.5 Ghz (Python)
L. Liu, J. Lu, C. Xu, Q. Tian and J. Zhou: Deep Fitting Degree Scoring Network for Monocular 3D Object Detection. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition 2019.
156 Shift R-CNN (mono) code 87.47 % 93.75 % 77.19 % 0.25 s GPU @ 1.5 Ghz (Python)
A. Naiden, V. Paunescu, G. Kim, B. Jeon and M. Leordeanu: Shift R-CNN: Deep Monocular 3D Object Detection With Closed-form Geometric Constraints. ICIP 2019.
157 MonoPSR code 87.45 % 93.29 % 72.26 % 0.2 s GPU @ 3.5 Ghz (Python)
J. Ku*, A. Pon* and S. Waslander: Monocular 3D Object Detection Leveraging Accurate Proposals and Shape Reconstruction. CVPR 2019.
158 Mono3D code 87.28 % 93.13 % 77.00 % 4.2 s GPU @ 2.5 Ghz (Matlab + C/C++)
X. Chen, K. Kundu, Z. Zhang, H. Ma, S. Fidler and R. Urtasun: Monocular 3D Object Detection for Autonomous Driving. CVPR 2016.
159 Object Transformer 87.23 % 93.00 % 79.42 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
160 MA 87.08 % 93.12 % 79.50 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
161 SMOKE code 87.02 % 92.94 % 77.12 % 0.03 s GPU @ 2.5 Ghz (Python)
Z. Liu, Z. Wu and R. Tóth: SMOKE: Single-Stage Monocular 3D Object Detection via Keypoint Estimation. 2020.
162 3DOP
This method uses stereo information.
code 86.93 % 91.31 % 76.72 % 3s GPU @ 2.5 Ghz (Matlab + C/C++)
X. Chen, K. Kundu, Y. Zhu, A. Berneshawi, H. Ma, S. Fidler and R. Urtasun: 3D Object Proposals for Accurate Object Class Detection. NIPS 2015.
163 CDN
This method uses stereo information.
86.90 % 95.79 % 79.05 % 0.6 s GPU @ 2.5 Ghz (Python)
D. Garg, Y. Wang, B. Hariharan, M. Campbell, K. Weinberger and W. Chao: Wasserstein Distances for Stereo Disparity Estimation. Advances in Neural Information Processing Systems (NeurIPS) 2020.
164 tiny-stereo-v2
This method uses stereo information.
86.87 % 95.91 % 79.43 % 0.4 s 1 core @ 2.5 Ghz (Python + C/C++)
165 DAMNET code 86.83 % 92.37 % 81.73 % 1 s 1 core @ 2.5 Ghz (C/C++)
166 RTM3D code 86.73 % 91.75 % 77.18 % 0.05 s GPU @ 1.0 Ghz (Python)
P. Li, H. Zhao, P. Liu and F. Cao: RTM3D: Real-time Monocular 3D Detection from Object Keypoints for Autonomous Driving. 2020.
167 IMA 86.71 % 92.51 % 76.95 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
168 voxelrcnn 86.61 % 94.59 % 79.80 % 15 s 1 core @ 2.5 Ghz (C/C++)
169 MonoPair 86.11 % 91.65 % 76.45 % 0.06 s GPU @ 2.5 Ghz (Python + C/C++)
Y. Chen, L. Tai, K. Sun and M. Li: MonoPair: Monocular 3D Object Detection Using Pairwise Spatial Relationships. The IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2020.
170 DSGN
This method uses stereo information.
code 86.03 % 95.42 % 78.27 % 0.67 s NVIDIA Tesla V100
Y. Chen, S. Liu, X. Shen and J. Jia: DSGN: Deep Stereo Geometry Network for 3D Object Detection. CVPR 2020.
171 UDI-mono3D 85.76 % 92.25 % 76.23 % 0.05 s 1 core @ 2.5 Ghz (Python)
172 NL_M3D 85.32 % 90.88 % 70.87 % 0.2 s 1 core @ 2.5 Ghz (Python)
173 StereoFENet
This method uses stereo information.
85.14 % 91.28 % 76.80 % 0.15 s 1 core @ 3.5 Ghz (Python)
W. Bao, B. Xu and Z. Chen: MonoFENet: Monocular 3D Object Detection with Feature Enhancement Networks. IEEE Transactions on Image Processing 2019.
174 OSE
This method uses stereo information.
84.75 % 95.15 % 75.34 % 0.1 s GPU @ 2.5 Ghz (C/C++)
175 PL++ (SDN+GDC)
This method uses stereo information.
This method makes use of Velodyne laser scans.
code 84.42 % 94.83 % 76.95 % 0.6 s GPU @ 2.5 Ghz (C/C++)
Y. You, Y. Wang, W. Chao, D. Garg, G. Pleiss, B. Hariharan, M. Campbell and K. Weinberger: Pseudo-LiDAR++: Accurate Depth for 3D Object Detection in Autonomous Driving. International Conference on Learning Representations 2020.
176 SS3D 84.38 % 92.57 % 69.82 % 48 ms Tesla V100 (Python)
E. Jörgensen, C. Zach and F. Kahl: Monocular 3D Object Detection and Box Fitting Trained End-to-End Using Intersection-over-Union Loss. CoRR 2019.
177 IDA-3D
This method uses stereo information.
84.32 % 92.63 % 73.98 % 0.08 s 1 core @ 2.5 Ghz (Python + C/C++)
178 CDN-PL++
This method uses stereo information.
84.21 % 94.45 % 76.69 % 0.4 s GPU @ 2.5 Ghz (C/C++)
D. Garg, Y. Wang, B. Hariharan, M. Campbell, K. Weinberger and W. Chao: Wasserstein Distances for Stereo Disparity Estimation. arXiv preprint arXiv:2007.03085 2020.
179 UDI-mono3D 84.20 % 91.88 % 75.38 % 0.05 s 1 core @ 2.5 Ghz (Python)
180 MonoFENet 84.09 % 91.42 % 75.93 % 0.15 s 1 core @ 3.5 Ghz (Python)
W. Bao, B. Xu and Z. Chen: MonoFENet: Monocular 3D Object Detection with Feature Enhancement Networks. IEEE Transactions on Image Processing 2019.
181 Complexer-YOLO
This method makes use of Velodyne laser scans.
83.89 % 91.77 % 79.24 % 0.06 s GPU @ 3.5 Ghz (C/C++)
M. Simon, K. Amende, A. Kraus, J. Honer, T. Samann, H. Kaulbersch, S. Milz and H. Michael Gross: Complexer-YOLO: Real-Time 3D Object Detection and Tracking on Semantic Point Clouds. The IEEE Conference on Computer Vision and Pattern Recognition (CVPR) Workshops 2019.
182 ZoomNet
This method uses stereo information.
code 83.79 % 94.14 % 68.78 % 0.3 s 1 core @ 2.5 Ghz (C/C++)
L. Z. Xu: ZoomNet: Part-Aware Adaptive Zooming Neural Network for 3D Object Detection. Proceedings of the AAAI Conference on Artificial Intelligence 2020.
183 seivl 83.38 % 90.32 % 81.41 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
184 MP-Mono 83.09 % 91.04 % 64.30 % 0.16 s GPU @ 2.5 Ghz (Python)
185 Deprecated 83.08 % 88.95 % 64.00 % Deprecated Deprecated
186 DAMono3D 83.00 % 88.87 % 63.87 % 0.09s 1 core @ 2.5 Ghz (C/C++)
187 M3D-RPN code 82.81 % 88.38 % 67.08 % 0.16 s GPU @ 1.5 Ghz (Python)
G. Brazil and X. Liu: M3D-RPN: Monocular 3D Region Proposal Network for Object Detection . ICCV 2019 .
188 MTMono3d 82.65 % 90.34 % 74.98 % 0.05 s 1 core @ 2.5 Ghz (C/C++)
189 RAR-Net 82.63 % 88.40 % 66.90 % 0.5 s 1 core @ 2.5 Ghz (C/C++)
190 Center3D 82.51 % 93.10 % 70.79 % 0.05 s GPU @ 3.5 Ghz (Python)
191 SSL-RTM3D Res18 82.43 % 93.13 % 72.47 % 0.02 s GPU @ 2.5 Ghz (Python)
192 ASOD 82.13 % 93.56 % 67.32 % 0.28 s GPU @ 2.5 Ghz (Python)
193 D4LCN code 82.08 % 90.01 % 63.98 % 0.2 s GPU @ 2.5 Ghz (Python + C/C++)
M. Ding, Y. Huo, H. Yi, Z. Wang, J. Shi, Z. Lu and P. Luo: Learning Depth-Guided Convolutions for Monocular 3D Object Detection. CVPR 2020.
194 deprecated 81.99 % 92.07 % 67.48 % 1 core @ 2.5 Ghz (C/C++)
195 S3D 81.93 % 91.59 % 67.43 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
196 Pseudo-LiDAR++
This method uses stereo information.
code 81.87 % 94.14 % 74.29 % 0.4 s GPU @ 2.5 Ghz (Python)
Y. You, Y. Wang, W. Chao, D. Garg, G. Pleiss, B. Hariharan, M. Campbell and K. Weinberger: Pseudo-LiDAR++: Accurate Depth for 3D Object Detection in Autonomous Driving. International Conference on Learning Representations 2020.
197 LNET 81.81 % 91.36 % 67.33 % 0.05 s 1 core @ 2.5 Ghz (C/C++)
198 Disp R-CNN
This method uses stereo information.
code 81.70 % 93.02 % 67.16 % 0.42 s GPU @ 2.5 Ghz (Python + C/C++)
J. Sun, L. Chen, Y. Xie, S. Zhang, Q. Jiang, X. Zhou and H. Bao: Disp R-CNN: Stereo 3D Object Detection via Shape Prior Guided Instance Disparity Estimation. CVPR 2020.
199 Disp R-CNN (velo)
This method uses stereo information.
code 81.67 % 92.86 % 67.22 % 0.42 s GPU @ 2.5 Ghz (Python + C/C++)
J. Sun, L. Chen, Y. Xie, S. Zhang, Q. Jiang, X. Zhou and H. Bao: Disp R-CNN: Stereo 3D Object Detection via Shape Prior Guided Instance Disparity Estimation. CVPR 2020.
200 LAPNet 81.63 % 90.16 % 63.47 % 0.03 s 1 core @ 2.5 Ghz (Python)
201 BS3D 81.22 % 94.66 % 68.39 % 22 ms Titan Xp
N. Gählert, J. Wan, M. Weber, J. Zöllner, U. Franke and J. Denzler: Beyond Bounding Boxes: Using Bounding Shapes for Real-Time 3D Vehicle Detection from Monocular RGB Images. 2019 IEEE Intelligent Vehicles Symposium (IV) 2019.
202 DP3D 81.07 % 87.49 % 65.12 % 0.05 s GPU @ 1.5 Ghz (Python + C/C++)
203 LCD3D 81.01 % 91.20 % 64.29 % 0.03 s GPU @ 2.5 Ghz (Python)
204 Stereo3D
This method uses stereo information.
80.88 % 93.65 % 61.17 % 0.1 s GPU 1080Ti
205 DP3D 80.87 % 87.58 % 64.88 % 0.07 s GPU @ 1.5 Ghz (Python + C/C++)
206 FRCNN+Or code 80.57 % 91.50 % 67.49 % 0.09 s Titan Xp GPU
C. Guindel, D. Martin and J. Armingol: Fast Joint Object Detection and Viewpoint Estimation for Traffic Scene Understanding. IEEE Intelligent Transportation Systems Magazine 2018.
C. Guindel, D. Martin and J. Armingol: Joint Object Detection and Viewpoint Estimation using CNN features. IEEE International Conference on Vehicular Electronics and Safety (ICVES) 2017.
207 DDMP-3D 80.20 % 90.73 % 61.82 % 0.18 s 1 core @ 2.5 Ghz (Python)
208 UM3D_TUM 80.15 % 92.80 % 65.77 % 0.05 s 1 core @ 2.5 Ghz (Python)
209 YoloMono3D 78.50 % 91.43 % 58.80 % 0.05 s GPU @ 2.5 Ghz (Python)
210 3D-GCK 78.44 % 88.59 % 66.28 % 24 ms Tesla V100
N. Gählert, J. Wan, N. Jourdan, J. Finkbeiner, U. Franke and J. Denzler: Single-Shot 3D Detection of Vehicles from Monocular RGB Images via Geometrically Constrained Keypoints in Real-Time. 2020 IEEE Intelligent Vehicles Symposium (IV) 2020.
211 ITS-MDPL 78.24 % 92.05 % 70.73 % 0.16 s GPU @ 2.5 Ghz (Python)
212 3D-SSMFCNN code 77.82 % 77.84 % 68.67 % 0.1 s GPU @ 1.5 Ghz (C/C++)
L. Novak: Vehicle Detection and Pose Estimation for Autonomous Driving. 2017.
213 DA-3Ddet 77.73 % 89.01 % 61.48 % 0.4 s GPU @ 2.5 Ghz (Python)
214 3DVP code 75.71 % 84.44 % 64.41 % 40 s 8 cores @ 3.5 Ghz (Matlab + C/C++)
Y. Xiang, W. Choi, Y. Lin and S. Savarese: Data-Driven 3D Voxel Patterns for Object Category Recognition. IEEE Conference on Computer Vision and Pattern Recognition 2015.
215 GS3D 75.63 % 85.79 % 61.85 % 2 s 1 core @ 2.5 Ghz (C/C++)
B. Li, W. Ouyang, L. Sheng, X. Zeng and X. Wang: GS3D: An Efficient 3D Object Detection Framework for Autonomous Driving. IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2019.
216 Pose-RCNN 75.41 % 89.49 % 63.57 % 2 s >8 cores @ 2.5 Ghz (Python)
M. Braun, Q. Rao, Y. Wang and F. Flohr: Pose-RCNN: Joint object detection and pose estimation using 3D object proposals. Intelligent Transportation Systems (ITSC), 2016 IEEE 19th International Conference on 2016.
217 SubCat code 75.26 % 83.31 % 59.55 % 0.7 s 6 cores @ 3.5 Ghz (Matlab + C/C++)
E. Ohn-Bar and M. Trivedi: Learning to Detect Vehicles by Clustering Appearance Patterns. T-ITS 2015.
218 3D FCN
This method makes use of Velodyne laser scans.
74.54 % 86.65 % 67.73 % >5 s 1 core @ 2.5 Ghz (C/C++)
B. Li: 3D Fully Convolutional Network for Vehicle Detection in Point Cloud. IROS 2017.
219 OC Stereo
This method uses stereo information.
code 73.34 % 86.86 % 61.37 % 0.35 s 1 core @ 2.5 Ghz (Python + C/C++)
A. Pon, J. Ku, C. Li and S. Waslander: Object-Centric Stereo Matching for 3D Object Detection. ICRA 2020.
220 RTS3D 72.74 % 80.36 % 63.65 % 0.03 s GPU @ 2.5 Ghz (Python)
221 ROI-10D 68.14 % 75.32 % 58.98 % 0.2 s GPU @ 3.5 Ghz (Python)
F. Manhardt, W. Kehl and A. Gaidon: ROI-10D: Monocular Lifting of 2D Detection to 6D Pose and Metric Shape. Computer Vision and Pattern Recognition (CVPR) 2019.
222 BirdNet+
This method makes use of Velodyne laser scans.
code 67.65 % 91.82 % 65.11 % 0.1 s Titan Xp (PyTorch)
A. Barrera, C. Guindel, J. Beltrán and F. García: BirdNet+: End-to-End 3D Object Detection in LiDAR Bird's Eye View. arXiv:2003.04188 [cs.CV] 2020.
223 multi-task CNN 67.51 % 79.00 % 58.80 % 25.1 ms GPU @ 2.0 Ghz (Python)
M. Oeljeklaus, F. Hoffmann and T. Bertram: A Fast Multi-Task CNN for Spatial Understanding of Traffic Scenes. IEEE Intelligent Transportation Systems Conference 2018.
224 CaDDN 67.31 % 78.28 % 59.52 % 0.63 s GPU @ 2.5 Ghz (Python)
225 Decoupled-3D 67.23 % 87.34 % 53.84 % 0.08 s GPU @ 2.5 Ghz (C/C++)
Y. Cai, B. Li, Z. Jiao, H. Li, X. Zeng and X. Wang: Monocular 3D Object Detection with Decoupled Structured Polygon Estimation and Height-Guided Depth Estimation. AAAI 2020.
226 BdCost48LDCF code 65.50 % 80.44 % 51.24 % 0.5 s 8 cores @ 3.5 Ghz (Matlab + C/C++)
A. Fernández-Baldera, J. Buenaposada and L. Baumela: BAdaCost: Multi-class Boosting with Costs . Pattern Recognition 2018.
227 OC-DPM 65.32 % 77.35 % 51.00 % 10 s 8 cores @ 2.5 Ghz (Matlab)
B. Pepik, M. Stark, P. Gehler and B. Schiele: Occlusion Patterns for Object Class Detection. IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2013.
228 RefinedMPL 64.02 % 87.95 % 52.06 % 0.15 s GPU @ 2.5 Ghz (Python + C/C++)
J. Vianney, S. Aich and B. Liu: RefinedMPL: Refined Monocular PseudoLiDAR for 3D Object Detection in Autonomous Driving. arXiv preprint arXiv:1911.09712 2019.
229 DPM-VOC+VP 63.58 % 79.09 % 46.59 % 8 s 1 core @ 2.5 Ghz (C/C++)
B. Pepik, M. Stark, P. Gehler and B. Schiele: Multi-view and 3D Deformable Part Models. IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI) 2015.
230 AOG-View 62.62 % 77.62 % 48.27 % 3 s 1 core @ 2.5 Ghz (Matlab, C/C++)
B. Li, T. Wu and S. Zhu: Integrating Context and Occlusion for Car Detection by Hierarchical And-Or Model. ECCV 2014.
231 PG-MonoNet 61.20 % 70.34 % 52.59 % 0.19 s GPU @ 2.5 Ghz (Python)
232 LSVM-MDPM-sv 57.48 % 70.23 % 42.54 % 10 s 4 cores @ 3.0 Ghz (C/C++)
P. Felzenszwalb, R. Girshick, D. McAllester and D. Ramanan: Object Detection with Discriminatively Trained Part-Based Models. PAMI 2010.
A. Geiger, C. Wojek and R. Urtasun: Joint 3D Estimation of Objects and Scene Layout. NIPS 2011.
233 SAMME48LDCF code 57.26 % 76.28 % 43.55 % 0.5 s 8 cores @ 3.5 Ghz (Matlab + C/C++)
A. Fernández-Baldera, J. Buenaposada and L. Baumela: BAdaCost: Multi-class Boosting with Costs . Pattern Recognition 2018.
234 BirdNet
This method makes use of Velodyne laser scans.
56.94 % 79.20 % 54.88 % 0.11 s Titan Xp (Caffe)
J. Beltrán, C. Guindel, F. Moreno, D. Cruzado, F. García and A. Escalera: BirdNet: A 3D Object Detection Framework from LiDAR Information. 2018 21st International Conference on Intelligent Transportation Systems (ITSC) 2018.
235 VeloFCN
This method makes use of Velodyne laser scans.
51.05 % 70.03 % 44.82 % 1 s GPU @ 2.5 Ghz (Python + C/C++)
B. Li, T. Zhang and T. Xia: Vehicle Detection from 3D Lidar Using Fully Convolutional Network. RSS 2016 .
236 Mono3D_PLiDAR code 49.39 % 76.90 % 41.13 % 0.1 s NVIDIA GeForce 1080 (pytorch)
X. Weng and K. Kitani: Monocular 3D Object Detection with Pseudo-LiDAR Point Cloud. arXiv:1903.09847 2019.
237 DPM-C8B1
This method uses stereo information.
48.00 % 57.76 % 35.52 % 15 s 4 cores @ 2.5 Ghz (Matlab + C/C++)
J. Yebes, L. Bergasa and M. García-Garrido: Visual Object Recognition with 3D-Aware Features in KITTI Urban Scenes. Sensors 2015.
J. Yebes, L. Bergasa, R. Arroyo and A. Lázaro: Supervised learning and evaluation of KITTI's cars detector with DPM. IV 2014.
238 LTN 46.54 % 48.96 % 41.58 % 0.4 s GPU @ >3.5 Ghz (Python)
T. Wang, X. He, Y. Cai and G. Xiao: Learning a Layout Transfer Network for Context Aware Object Detection. IEEE Transactions on Intelligent Transportation Systems 2019.
239 sensekitti code 46.12 % 49.16 % 42.79 % 4.5 s GPU @ 2.5 Ghz (Python + C/C++)
B. Yang, J. Yan, Z. Lei and S. Li: Craft Objects from Images. CVPR 2016.
240 Kinematic3D code 45.50 % 58.33 % 34.81 % 0.12 s 1 core @ 1.5 Ghz (C/C++)
G. Brazil, G. Pons-Moll, X. Liu and B. Schiele: Kinematic 3D Object Detection in Monocular Video. ECCV 2020 .
241 PVGNet 40.79 % 43.04 % 39.42 % 0.05 s 1 core @ >3.5 Ghz (C/C++)
242 anonymous 40.75 % 45.00 % 34.48 % 1 s 1 core @ 2.5 Ghz (C/C++)
243 Dccnet 40.44 % 37.79 % 38.54 % 0.05 s 1 core @ 2.5 Ghz (C/C++)
244 Chovy 40.34 % 41.64 % 38.31 % 0.04 s GPU @ 2.5 Ghz (Python)
245 cvMax 40.31 % 41.97 % 37.57 % 0.04 s GPU @ >3.5 Ghz (Python)
246 deprecated 40.03 % 40.31 % 37.35 % 0.04 s GPU @ 2.5 Ghz (Python)
247 3D-CVF at SPA
This method makes use of Velodyne laser scans.
39.79 % 40.44 % 36.10 % 0.06 s 1 core @ 2.5 Ghz (C/C++)
J. Yoo, Y. Kim, J. Kim and J. Choi: 3D-CVF: Generating Joint Camera and LiDAR Features Using Cross-View Spatial Feature Fusion for 3D Object Detection. ECCV 2020.
248 CDI3D 39.62 % 41.27 % 34.88 % 0.03 s GPU @ 2.5 Ghz (Python)
249 HR-faster-rcnn 39.35 % 39.78 % 36.47 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
250 deprecated 38.89 % 40.49 % 35.13 % 0.06 s GPU @ >3.5 Ghz (Python)
251 dgist_multiDetNet 38.76 % 39.75 % 35.38 % 0.08 s GPU Titanx Pascal (Python)
252 BLPNet_V2 38.66 % 39.39 % 38.36 % 0.04 s 1 core @ 2.5 Ghz (Python)
253 PVF-NET 38.53 % 39.57 % 38.23 % 0.1 s 1 core @ 2.5 Ghz (Python)
254 DGIST MT-CNN 38.47 % 39.69 % 35.22 % 0.09 s GPU @ 1.0 Ghz (Python)
255 SA-SSD code 38.30 % 39.40 % 37.07 % 0.04 s 1 core @ 2.5 Ghz (Python)
C. He, H. Zeng, J. Huang, X. Hua and L. Zhang: Structure Aware Single-stage 3D Object Detection from Point Cloud. CVPR 2020.
256 HR-Cascade-RCNN 38.25 % 39.72 % 35.92 % 0.3 s 1 core @ 2.5 Ghz (C/C++)
257 Faster RCNN + A 37.92 % 39.50 % 33.85 % 0.19 s GPU @ 2.5 Ghz (Python + C/C++)
258 KNN-GCNN 37.80 % 38.80 % 36.52 % 0.4 s 1 core @ 2.5 Ghz (Python + C/C++)
259 JSU-NET 37.60 % 41.33 % 33.41 % 0.1 s 1 core @ 2.5 Ghz (Python)
260 yolo4 37.27 % 38.19 % 32.45 % 0.02 s 1 core @ 2.5 Ghz (Python)
261 Point-GNN
This method makes use of Velodyne laser scans.
code 37.20 % 38.66 % 36.29 % 0.6 s GPU @ 2.5 Ghz (Python)
W. Shi and R. Rajkumar: Point-GNN: Graph Neural Network for 3D Object Detection in a Point Cloud. CVPR 2020.
262 PP-3D 37.20 % 38.66 % 36.29 % 0.1 s 1 core @ 2.5 Ghz (Python)
263 F-3DNet 37.18 % 38.58 % 36.44 % 0.5 s GPU @ 2.5 Ghz (Python)
264 yolo4_5l 37.14 % 37.92 % 32.31 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
265 GAFM 37.08 % 40.28 % 33.08 % 0.5 s 1 core @ 2.5 Ghz (Python)
266 Faster RCNN + Gr + A 36.95 % 38.22 % 33.16 % 1.29 s GPU @ 2.5 Ghz (Python)
267 yolo4_5l code 36.81 % 37.14 % 33.24 % 0.02 s 1 core @ 2.5 Ghz (Python + C/C++)
268 GA_BALANCE 36.62 % 38.44 % 31.94 % 1 s 1 core @ 2.5 Ghz (Python)
269 GA_FULLDATA 36.43 % 38.90 % 31.61 % 1 s 4 cores @ 2.5 Ghz (Python)
270 PMN 36.23 % 38.08 % 32.05 % 0.2 s 1 core @ 2.5 Ghz (Python)
271 MMCOM 36.08 % 39.58 % 32.06 % 0.04 s 1 core @ 2.5 Ghz (Python)
272 Scan_YOLO 36.02 % 36.78 % 32.65 % 0.1 s 4 cores @ 3.0 Ghz (Python)
273 Multi-task DG 35.50 % 38.34 % 30.85 % 0.06 s GPU @ 2.5 Ghz (Python)
274 yolo_rgb 35.23 % 36.60 % 31.70 % 0.07 s GPU @ 2.5 Ghz (Python)
275 bifpn_fsrn 33.84 % 37.56 % 29.98 % 0.07 s 1 core @ 2.5 Ghz (Python + C/C++)
276 Mag 33.74 % 38.34 % 28.76 % 0.07 s 1 core @ 2.5 Ghz (C/C++)
277 CBNet 32.63 % 36.51 % 29.26 % 1 s 4 cores @ 2.5 Ghz (Python)
278 MTNAS 31.15 % 35.43 % 27.02 % 0.02 s 1 core @ 2.5 Ghz (python)
279 yolo_depth 30.33 % 36.32 % 26.80 % 0.07 s GPU @ 2.5 Ghz (Python)
280 AOG code 29.81 % 33.28 % 23.91 % 3 s 4 cores @ 2.5 Ghz (Matlab)
T. Wu, B. Li and S. Zhu: Learning And-Or Models to Represent Context and Occlusion for Car Detection and Viewpoint Estimation. TPAMI 2016.
B. Li, T. Wu and S. Zhu: Integrating Context and Occlusion for Car Detection by Hierarchical And-Or Model. ECCV 2014.
281 DAM 28.97 % 37.05 % 25.28 % 1 s GPU @ 2.5 Ghz (Python)
282 SubCat48LDCF code 26.68 % 34.33 % 19.44 % 0.5 s 8 cores @ 3.5 Ghz (Matlab + C/C++)
A. Fernández-Baldera, J. Buenaposada and L. Baumela: BAdaCost: Multi-class Boosting with Costs . Pattern Recognition 2018.
283 RT3D-GMP
This method uses stereo information.
24.27 % 28.33 % 18.51 % 0.06 s GPU @ 2.5 Ghz (Python + C/C++)
284 RT3DStereo
This method uses stereo information.
21.41 % 25.58 % 17.52 % 0.08 s GPU @ 2.5 Ghz (C/C++)
H. Königshof, N. Salscheider and C. Stiller: Realtime 3D Object Detection for Automated Driving Using Stereo Vision and Semantic Information. Proc. IEEE Intl. Conf. Intelligent Transportation Systems 2019.
285 CSoR
This method makes use of Velodyne laser scans.
code 20.82 % 30.65 % 17.14 % 3.5 s 4 cores @ >3.5 Ghz (Python + C/C++)
L. Plotkin: PyDriver: Entwicklung eines Frameworks für räumliche Detektion und Klassifikation von Objekten in Fahrzeugumgebung. 2015.
286 RT3D
This method makes use of Velodyne laser scans.
18.96 % 24.41 % 19.85 % 0.09 s GPU @ 1.8Ghz
Y. Zeng, Y. Hu, S. Liu, J. Ye, Y. Han, X. Li and N. Sun: RT3D: Real-Time 3-D Vehicle Detection in LiDAR Point Cloud for Autonomous Driving. IEEE Robotics and Automation Letters 2018.
287 VoxelJones code 15.41 % 17.83 % 14.13 % .18 s 1 core @ 2.5 Ghz (Python + C/C++)
M. Motro and J. Ghosh: Vehicular Multi-object Tracking with Persistent Detector Failures. arXiv preprint arXiv:1907.11306 2019.
288 MuRF 1.75 % 0.63 % 2.14 % 0.05 s GPU @ 1.5 Ghz (Python + C/C++)
289 Simple3D Net 1.38 % 0.63 % 1.76 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
290 APL-Second 1.24 % 0.55 % 1.63 % 0.05 s 1 core @ 2.5 Ghz (Python)
291 Associate-3Ddet code 1.20 % 0.52 % 1.38 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
L. Du, X. Ye, X. Tan, J. Feng, Z. Xu, E. Ding and S. Wen: Associate-3Ddet: Perceptual-to-Conceptual Association for 3D Point Cloud Object Detection. The IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2020.
Table as LaTeX | Only published Methods


Pedestrians


Method Setting Code Moderate Easy Hard Runtime Environment
1 VMVS
This method makes use of Velodyne laser scans.
68.19 % 79.98 % 63.18 % 0.25 s GPU @ 2.5 Ghz (Python)
J. Ku, A. Pon, S. Walsh and S. Waslander: Improving 3D object detection for pedestrians with virtual multi-view synthesis orientation estimation. IROS 2019.
2 SubCNN 66.70 % 79.65 % 61.35 % 2 s GPU @ 3.5 Ghz (Python + C/C++)
Y. Xiang, W. Choi, Y. Lin and S. Savarese: Subcategory-aware Convolutional Neural Networks for Object Proposals and Detection. IEEE Winter Conference on Applications of Computer Vision (WACV) 2017.
3 F-ConvNet
This method makes use of Velodyne laser scans.
code 63.87 % 75.19 % 58.57 % 0.47 s GPU @ 2.5 Ghz (Python + C/C++)
Z. Wang and K. Jia: Frustum ConvNet: Sliding Frustums to Aggregate Local Point-Wise Features for Amodal 3D Object Detection. IROS 2019.
4 3DOP
This method uses stereo information.
code 61.48 % 74.22 % 55.89 % 3s GPU @ 2.5 Ghz (Matlab + C/C++)
X. Chen, K. Kundu, Y. Zhu, A. Berneshawi, H. Ma, S. Fidler and R. Urtasun: 3D Object Proposals for Accurate Object Class Detection. NIPS 2015.
5 HotSpotNet 60.65 % 70.36 % 57.42 % 0.04 s 1 core @ 2.5 Ghz (Python + C/C++)
Q. Chen, L. Sun, Z. Wang, K. Jia and A. Yuille: object as hotspots. Proceedings of the European Conference on Computer Vision (ECCV) 2020.
6 HRI-ADLab-HZ-AFree 60.39 % 72.27 % 57.76 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
7 DeepStereoOP 60.15 % 73.76 % 55.30 % 3.4 s GPU @ 3.5 Ghz (Matlab + C/C++)
C. Pham and J. Jeon: Robust Object Proposals Re-ranking for Object Detection in Autonomous Driving Using Convolutional Neural Networks. Signal Processing: Image Communiation 2017.
8 Pose-RCNN 59.84 % 76.24 % 53.59 % 2 s >8 cores @ 2.5 Ghz (Python)
M. Braun, Q. Rao, Y. Wang and F. Flohr: Pose-RCNN: Joint object detection and pose estimation using 3D object proposals. Intelligent Transportation Systems (ITSC), 2016 IEEE 19th International Conference on 2016.
9 Mono3CN 59.17 % 72.16 % 53.22 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
10 HRI-ADLab-HZ 59.14 % 69.90 % 55.15 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
11 FFNet code 58.87 % 69.24 % 53.75 % 1.07 s GPU @ 1.5 Ghz (Python)
C. Zhao, Y. Qian and M. Yang: Monocular Pedestrian Orientation Estimation Based on Deep 2D-3D Feedforward. Pattern Recognition 2019.
12 Mono3D code 58.66 % 71.19 % 53.94 % 4.2 s GPU @ 2.5 Ghz (Matlab + C/C++)
X. Chen, K. Kundu, Z. Zhang, H. Ma, S. Fidler and R. Urtasun: Monocular 3D Object Detection for Autonomous Driving. CVPR 2016.
13 Fast VP-RCNN code 55.56 % 66.06 % 53.27 % 0.05 s 1 core @ >3.5 Ghz (python)
14 MVX-Net++ 54.86 % 64.23 % 50.85 % 0.15 s 1 core @ 2.5 Ghz (C/C++)
15 RethinkDet3D 54.72 % 63.97 % 50.72 % 0.15 s 1 core @ 2.5 Ghz (Python)
16 MonoPSR code 54.65 % 68.98 % 50.07 % 0.2 s GPU @ 3.5 Ghz (Python)
J. Ku*, A. Pon* and S. Waslander: Monocular 3D Object Detection Leveraging Accurate Proposals and Shape Reconstruction. CVPR 2019.
17 XView-PartA^2 54.47 % 64.10 % 51.83 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
18 DSA-PV-RCNN
This method makes use of Velodyne laser scans.
54.38 % 63.12 % 51.98 % 0.08 s 1 core @ 2.5 Ghz (Python + C/C++)
19 DLE 53.78 % 69.94 % 48.98 % 0.04 s GPU @ 2.5 Ghz (Python)
20 TBD 53.58 % 62.81 % 50.86 % 0.07 s 1 core @ 2.5 Ghz (Python + C/C++)
21 GAP-soft-filter 53.53 % 63.48 % 50.30 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
22 PF-GAP 53.38 % 65.13 % 49.49 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
23 SRDL
This method uses stereo information.
This method makes use of Velodyne laser scans.
53.36 % 63.39 % 50.43 % 0.15 s GPU @ 2.5 Ghz (Python + C/C++)
24 Baseline of CA RCNN 53.35 % 63.39 % 50.42 % 0.1 s GPU @ 2.5 Ghz (Python)
25 CVIS-DF3D 53.35 % 63.39 % 50.42 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
26 CVRS VIC-Net 52.63 % 61.60 % 50.07 % 0.06 s 1 core @ 2.5 Ghz (C/C++)
27 MSL3D 52.49 % 63.54 % 49.53 % 0.03 s GPU @ 2.5 Ghz (Python)
28 FSA-PVRCNN
This method makes use of Velodyne laser scans.
52.49 % 60.99 % 49.92 % 0.06 s 1 core @ 2.5 Ghz (C/C++)
29 MMLab PV-RCNN
This method makes use of Velodyne laser scans.
code 52.42 % 63.45 % 49.23 % 0.08 s 1 core @ 2.5 Ghz (Python + C/C++)
S. Shi, C. Guo, L. Jiang, Z. Wang, J. Shi, X. Wang and H. Li: PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detection. CVPR 2020.
30 CVRS VIC-RCNN 52.40 % 61.31 % 50.15 % 0.08 s 1 core @ 2.5 Ghz (C/C++)
31 MMLab-PartA^2
This method makes use of Velodyne laser scans.
code 52.20 % 63.51 % 48.27 % 0.08 s GPU @ 2.5 Ghz (Python + C/C++)
S. Shi, Z. Wang, J. Shi, X. Wang and H. Li: From Points to Parts: 3D Object Detection from Point Cloud with Part-aware and Part-aggregation Network. IEEE Transactions on Pattern Analysis and Machine Intelligence 2020.
32 FRCNN+Or code 52.15 % 67.03 % 47.14 % 0.09 s Titan Xp GPU
C. Guindel, D. Martin and J. Armingol: Fast Joint Object Detection and Viewpoint Estimation for Traffic Scene Understanding. IEEE Intelligent Transportation Systems Magazine 2018.
C. Guindel, D. Martin and J. Armingol: Joint Object Detection and Viewpoint Estimation using CNN features. IEEE International Conference on Vehicular Electronics and Safety (ICVES) 2017.
33 SVGA-Net
This method makes use of Velodyne laser scans.
51.69 % 61.84 % 49.00 % 0.08 s GPU @ 2.5 Ghz (Python + C/C++)
34 MGACNet 50.52 % 60.32 % 47.92 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
35 CVIS-DF3D_v2 50.51 % 60.74 % 47.69 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
36 PointPainting
This method makes use of Velodyne laser scans.
50.22 % 59.25 % 46.95 % 0.4 s GPU @ 2.5 Ghz (Python + C/C++)
S. Vora, A. Lang, B. Helou and O. Beijbom: PointPainting: Sequential Fusion for 3D Object Detection. CVPR 2020.
37 deprecated 48.72 % 57.13 % 46.45 % 0.06 s 1 core @ 2.5 Ghz (C/C++)
38 ARPNET 48.49 % 60.47 % 45.02 % 0.08 s GPU @ 2.5 Ghz (Python + C/C++)
Y. Ye, C. Zhang and X. Hao: ARPNET: attention region proposal network for 3D object detection. Science China Information Sciences 2019.
39 3DBN_2 48.43 % 59.19 % 45.73 % 0.12 s 1 core @ 2.5 Ghz (C/C++)
ERROR: Wrong syntax in BIBTEX file.
40 GA-Aug 48.40 % 61.17 % 43.69 % 0.04 s GPU @ 2.5 Ghz (Python)
41 AF_MCLS 48.39 % 61.41 % 44.22 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
42 TBD 48.34 % 58.57 % 44.85 % 0.05 s GPU @ 2.5 Ghz (Python)
43 PointPillars
This method makes use of Velodyne laser scans.
code 48.05 % 57.47 % 45.40 % 16 ms 1080ti GPU and Intel i7 CPU
A. Lang, S. Vora, H. Caesar, L. Zhou, J. Yang and O. Beijbom: PointPillars: Fast Encoders for Object Detection from Point Clouds. CVPR 2019.
44 MonoRUn 47.82 % 63.28 % 43.23 % 0.07 s GPU @ 2.5 Ghz (Python + C/C++)
45 MMLab-PointRCNN
This method makes use of Velodyne laser scans.
code 47.33 % 57.19 % 44.31 % 0.1 s GPU @ 2.5 Ghz (Python + C/C++)
S. Shi, X. Wang and H. Li: Pointrcnn: 3d object proposal generation and detection from point cloud. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition 2019.
46 PVNet 46.68 % 57.18 % 44.38 % 0,1 s 1 core @ 2.5 Ghz (Python)
47 Shift R-CNN (mono) code 46.56 % 64.73 % 41.86 % 0.25 s GPU @ 1.5 Ghz (Python)
A. Naiden, V. Paunescu, G. Kim, B. Jeon and M. Leordeanu: Shift R-CNN: Deep Monocular 3D Object Detection With Closed-form Geometric Constraints. ICIP 2019.
48 IGRP+ 46.34 % 57.61 % 42.75 % 0.18 s 1 core @ 2.5 Ghz (Python + C/C++)
49 UDI-mono3D 45.37 % 57.89 % 40.78 % 0.05 s 1 core @ 2.5 Ghz (Python)
50 PKRCNN 44.94 % 53.14 % 42.71 % 0.01s 1 core @ 2.5 Ghz (Python)
ERROR: Wrong syntax in BIBTEX file.
51 UDI-mono3D 44.75 % 57.42 % 40.21 % 0.05 s 1 core @ 2.5 Ghz (Python)
52 HWFD 44.66 % 48.89 % 42.14 % 0.21 s one 1080Ti
53 MonoFlex 44.20 % 58.96 % 39.89 % 0.03 s GPU @ 2.5 Ghz (Python)
54 AVOD-FPN
This method makes use of Velodyne laser scans.
code 43.99 % 53.48 % 41.56 % 0.1 s Titan X (Pascal)
J. Ku, M. Mozifian, J. Lee, A. Harakeh and S. Waslander: Joint 3D Proposal Generation and Object Detection from View Aggregation. IROS 2018.
55 Disp R-CNN (velo)
This method uses stereo information.
code 43.99 % 60.06 % 39.79 % 0.42 s GPU @ 2.5 Ghz (Python + C/C++)
J. Sun, L. Chen, Y. Xie, S. Zhang, Q. Jiang, X. Zhou and H. Bao: Disp R-CNN: Stereo 3D Object Detection via Shape Prior Guided Instance Disparity Estimation. CVPR 2020.
56 Disp R-CNN
This method uses stereo information.
code 43.76 % 60.00 % 39.55 % 0.42 s GPU @ 2.5 Ghz (Python + C/C++)
J. Sun, L. Chen, Y. Xie, S. Zhang, Q. Jiang, X. Zhou and H. Bao: Disp R-CNN: Stereo 3D Object Detection via Shape Prior Guided Instance Disparity Estimation. CVPR 2020.
57 dgist_multiDetNet 43.48 % 49.02 % 40.97 % 0.08 s GPU Titanx Pascal (Python)
58 GAA 43.31 % 56.36 % 39.16 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
ERROR: Wrong syntax in BIBTEX file.
59 DGIST MT-CNN 43.26 % 48.67 % 40.74 % 0.09 s GPU @ 1.0 Ghz (Python)
60 MonoPair 42.38 % 55.26 % 38.53 % 0.06 s GPU @ 2.5 Ghz (Python + C/C++)
Y. Chen, L. Tai, K. Sun and M. Li: MonoPair: Monocular 3D Object Detection Using Pairwise Spatial Relationships. The IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2020.
61 VICNet 42.35 % 49.90 % 39.38 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
62 CBi-GNN-persons 41.73 % 54.55 % 37.59 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
63 NLK-3D 41.71 % 54.22 % 39.32 % 0.04 s 1 core @ 2.5 Ghz (Python + C/C++)
64 MTMono3d 41.63 % 54.28 % 36.32 % 0.05 s 1 core @ 2.5 Ghz (C/C++)
65 PFF3D
This method makes use of Velodyne laser scans.
40.99 % 48.75 % 38.99 % 0.05 s GPU @ 3.0 Ghz (Python + C/C++)
66 Faster RCNN + Gr + A 40.92 % 47.81 % 37.89 % 1.29 s GPU @ 2.5 Ghz (Python)
67 CentrNet-FG 39.88 % 47.51 % 37.49 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
68 AB3DMOT
This method makes use of Velodyne laser scans.
This is an online method (no batch processing).
code 39.76 % 50.30 % 36.90 % 0.0047s 1 core @ 2.5 Ghz (python)
X. Weng and K. Kitani: A Baseline for 3D Multi-Object Tracking. arXiv:1907.03961 2019.
69 FCY
This method makes use of Velodyne laser scans.
39.67 % 51.30 % 35.90 % 0.02 s GPU @ 2.5 Ghz (Python)
70 SS3D 39.60 % 53.72 % 35.40 % 48 ms Tesla V100 (Python)
E. Jörgensen, C. Zach and F. Kahl: Monocular 3D Object Detection and Box Fitting Trained End-to-End Using Intersection-over-Union Loss. CoRR 2019.
71 Faster RCNN + A 39.44 % 46.80 % 36.46 % 0.19 s GPU @ 2.5 Ghz (Python + C/C++)
72 NLK-ALL code 39.31 % 49.20 % 35.60 % 0.04 s 1 core @ 2.5 Ghz (Python + C/C++)
73 MMCOM 39.20 % 46.12 % 36.81 % 0.04 s 1 core @ 2.5 Ghz (Python)
74 HR-faster-rcnn 39.02 % 47.41 % 35.57 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
75 SemanticVoxels 38.95 % 45.59 % 37.21 % 0.04 s GPU @ 2.5 Ghz (Python + C/C++)
J. Fei, W. Chen, P. Heidenreich, S. Wirges and C. Stiller: SemanticVoxels: Sequential Fusion for 3D Pedestrian Detection using LiDAR Point Cloud and Semantic Segmentation. MFI 2020.
76 Multi-task DG 38.79 % 46.21 % 36.07 % 0.06 s GPU @ 2.5 Ghz (Python)
77 Center3D 38.59 % 53.15 % 34.77 % 0.05 s GPU @ 3.5 Ghz (Python)
78 Deprecated 38.08 % 52.18 % 32.76 % Deprecated Deprecated
79 DAMNET code 37.88 % 49.72 % 35.52 % 1 s 1 core @ 2.5 Ghz (C/C++)
80 DPM-VOC+VP 37.79 % 52.91 % 33.27 % 8 s 1 core @ 2.5 Ghz (C/C++)
B. Pepik, M. Stark, P. Gehler and B. Schiele: Multi-view and 3D Deformable Part Models. IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI) 2015.
81 M3D-RPN(S-R) 37.78 % 51.90 % 33.95 % 0.16 s GPU @ 1.5 Ghz (Python)
82 DAMono3D 37.29 % 51.66 % 33.37 % 0.09s 1 core @ 2.5 Ghz (C/C++)
83 CG-Stereo
This method uses stereo information.
36.47 % 48.23 % 32.77 % 0.57 s GeForce RTX 2080 Ti
C. Li, J. Ku and S. Waslander: Confidence Guided Stereo 3D Object Detection with Split Depth Estimation. IROS 2020.
84 TANet code 36.21 % 42.54 % 34.39 % 0.035s GPU @ 2.5 Ghz (Python + C/C++)
Z. Liu, X. Zhao, T. Huang, R. Hu, Y. Zhou and X. Bai: TANet: Robust 3D Object Detection from Point Clouds with Triple Attention. AAAI 2020.
85 Stereo3D
This method uses stereo information.
35.62 % 48.99 % 31.58 % 0.1 s GPU 1080Ti
86 PMN 35.57 % 44.42 % 32.68 % 0.2 s 1 core @ 2.5 Ghz (Python)
87 SCNet
This method makes use of Velodyne laser scans.
35.49 % 44.50 % 33.38 % 0.04 s GPU @ 3.0 Ghz (Python)
Z. Wang, H. Fu, L. Wang, L. Xiao and B. Dai: SCNet: Subdivision Coding Network for Object Detection Based on 3D Point Cloud. IEEE Access 2019.
88 NL_M3D 35.20 % 46.64 % 30.56 % 0.2 s 1 core @ 2.5 Ghz (Python)
89 MonoEF code 34.63 % 47.45 % 31.01 % 0.03 s 1 core @ 2.5 Ghz (Python)
90 sensekitti code 34.26 % 41.03 % 31.51 % 4.5 s GPU @ 2.5 Ghz (Python + C/C++)
B. Yang, J. Yan, Z. Lei and S. Li: Craft Objects from Images. CVPR 2016.
91 Pointpillar_TV 34.24 % 42.95 % 32.08 % 0.05 s 1 core @ 2.5 Ghz (C/C++)
92 D4LCN code 33.62 % 46.73 % 28.71 % 0.2 s GPU @ 2.5 Ghz (Python + C/C++)
M. Ding, Y. Huo, H. Yi, Z. Wang, J. Shi, Z. Lu and P. Luo: Learning Depth-Guided Convolutions for Monocular 3D Object Detection. CVPR 2020.
93 JSU-NET 33.55 % 45.79 % 30.72 % 0.1 s 1 core @ 2.5 Ghz (Python)
94 DDMP-3D 33.35 % 46.12 % 28.45 % 0.18 s 1 core @ 2.5 Ghz (Python)
95 DP3D 33.35 % 46.50 % 29.89 % 0.05 s GPU @ 1.5 Ghz (Python + C/C++)
96 SparsePool code 33.35 % 43.86 % 29.99 % 0.13 s 8 cores @ 2.5 Ghz (Python)
Z. Wang, W. Zhan and M. Tomizuka: Fusing bird view lidar point cloud and front view camera image for deep object detection. arXiv preprint arXiv:1711.06703 2017.
97 SparsePool code 33.29 % 43.52 % 30.01 % 0.13 s 8 cores @ 2.5 Ghz (Python)
Z. Wang, W. Zhan and M. Tomizuka: Fusing bird view lidar point cloud and front view camera image for deep object detection. arXiv preprint arXiv:1711.06703 2017.
98 LSVM-MDPM-sv 33.01 % 45.60 % 29.27 % 10 s 4 cores @ 3.0 Ghz (C/C++)
P. Felzenszwalb, R. Girshick, D. McAllester and D. Ramanan: Object Detection with Discriminatively Trained Part-Based Models. PAMI 2010.
A. Geiger, C. Wojek and R. Urtasun: Joint 3D Estimation of Objects and Scene Layout. NIPS 2011.
99 DP3D 32.99 % 44.19 % 28.19 % 0.07 s GPU @ 1.5 Ghz (Python + C/C++)
100 AVOD
This method makes use of Velodyne laser scans.
code 32.19 % 42.54 % 29.09 % 0.08 s Titan X (pascal)
J. Ku, M. Mozifian, J. Lee, A. Harakeh and S. Waslander: Joint 3D Proposal Generation and Object Detection from View Aggregation. IROS 2018.
101 Complexer-YOLO
This method makes use of Velodyne laser scans.
32.13 % 37.32 % 28.94 % 0.06 s GPU @ 3.5 Ghz (C/C++)
M. Simon, K. Amende, A. Kraus, J. Honer, T. Samann, H. Kaulbersch, S. Milz and H. Michael Gross: Complexer-YOLO: Real-Time 3D Object Detection and Tracking on Semantic Point Clouds. The IEEE Conference on Computer Vision and Pattern Recognition (CVPR) Workshops 2019.
102 RPN+BF code 32.12 % 41.19 % 28.83 % 0.6 s GPU @ 2.5 Ghz (Matlab + C/C++)
L. Zhang, L. Lin, X. Liang and K. He: Is Faster R-CNN Doing Well for Pedestrian Detection?. ECCV 2016.
103 MP-Mono 32.02 % 44.19 % 28.72 % 0.16 s GPU @ 2.5 Ghz (Python)
104 KNN-GCNN 31.91 % 39.25 % 29.76 % 0.4 s 1 core @ 2.5 Ghz (Python + C/C++)
105 M3D-RPN code 31.88 % 44.33 % 28.55 % 0.16 s GPU @ 1.5 Ghz (Python)
G. Brazil and X. Liu: M3D-RPN: Monocular 3D Region Proposal Network for Object Detection . ICCV 2019 .
106 Point-GNN
This method makes use of Velodyne laser scans.
code 31.86 % 39.16 % 29.65 % 0.6 s GPU @ 2.5 Ghz (Python)
W. Shi and R. Rajkumar: Point-GNN: Graph Neural Network for 3D Object Detection in a Point Cloud. CVPR 2020.
107 PP-3D 31.86 % 39.16 % 29.65 % 0.1 s 1 core @ 2.5 Ghz (Python)
108 yolo4_5l 31.53 % 40.97 % 27.63 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
109 SubCat 31.26 % 42.31 % 27.39 % 1.2 s 6 cores @ 2.5 Ghz (Matlab + C/C++)
E. Ohn-Bar and M. Trivedi: Fast and Robust Object Detection Using Visual Subcategories. Computer Vision and Pattern Recognition Workshops Mobile Vision 2014.
110 DAM 30.58 % 41.32 % 27.84 % 1 s GPU @ 2.5 Ghz (Python)
111 Mag 30.28 % 39.29 % 27.59 % 0.07 s 1 core @ 2.5 Ghz (C/C++)
112 yolo4 30.09 % 40.84 % 27.35 % 0.02 s 1 core @ 2.5 Ghz (Python)
113 OSE
This method uses stereo information.
30.02 % 40.27 % 26.86 % 0.1 s GPU @ 2.5 Ghz (C/C++)
114 PG-MonoNet 29.56 % 37.28 % 26.48 % 0.19 s GPU @ 2.5 Ghz (Python)
115 BirdNet+
This method makes use of Velodyne laser scans.
code 29.56 % 36.76 % 28.10 % 0.1 s Titan Xp (PyTorch)
A. Barrera, C. Guindel, J. Beltrán and F. García: BirdNet+: End-to-End 3D Object Detection in LiDAR Bird's Eye View. arXiv:2003.04188 [cs.CV] 2020.
116 CDI3D 29.51 % 36.82 % 27.23 % 0.03 s GPU @ 2.5 Ghz (Python)
117 yolo4_5l code 28.60 % 38.95 % 25.97 % 0.02 s 1 core @ 2.5 Ghz (Python + C/C++)
118 yolo_depth 28.06 % 38.75 % 25.37 % 0.07 s GPU @ 2.5 Ghz (Python)
119 LAPNet 27.11 % 37.41 % 24.04 % 0.03 s 1 core @ 2.5 Ghz (Python)
120 yolo_rgb 26.85 % 35.91 % 24.37 % 0.07 s GPU @ 2.5 Ghz (Python)
121 FADNet code 25.41 % 33.68 % 22.66 % 0.04 s GPU @ >3.5 Ghz (Python)
122 DSGN
This method uses stereo information.
code 24.32 % 31.21 % 23.09 % 0.67 s NVIDIA Tesla V100
Y. Chen, S. Liu, X. Shen and J. Jia: DSGN: Deep Stereo Geometry Network for 3D Object Detection. CVPR 2020.
123 ACF 24.31 % 32.23 % 21.70 % 1 s 1 core @ 3.5 Ghz (Matlab + C/C++)
P. Doll\'ar, R. Appel, S. Belongie and P. Perona: Fast Feature Pyramids for Object Detection. PAMI 2014.
124 multi-task CNN 22.80 % 30.30 % 20.47 % 25.1 ms GPU @ 2.0 Ghz (Python)
M. Oeljeklaus, F. Hoffmann and T. Bertram: A Fast Multi-Task CNN for Spatial Understanding of Traffic Scenes. IEEE Intelligent Transportation Systems Conference 2018.
125 ACF-MR 22.61 % 29.23 % 20.08 % 0.6 s 1 core @ 3.5 Ghz (C/C++)
R. Rajaram, E. Ohn-Bar and M. Trivedi: Looking at Pedestrians at Different Scales: A Multi-resolution Approach and Evaluations. T-ITS 2016.
126 OC Stereo
This method uses stereo information.
code 22.02 % 31.36 % 20.20 % 0.35 s 1 core @ 2.5 Ghz (Python + C/C++)
A. Pon, J. Ku, C. Li and S. Waslander: Object-Centric Stereo Matching for 3D Object Detection. ICRA 2020.
127 BirdNet
This method makes use of Velodyne laser scans.
21.83 % 27.12 % 20.56 % 0.11 s Titan Xp (Caffe)
J. Beltrán, C. Guindel, F. Moreno, D. Cruzado, F. García and A. Escalera: BirdNet: A 3D Object Detection Framework from LiDAR Information. 2018 21st International Conference on Intelligent Transportation Systems (ITSC) 2018.
128 RT3D-GMP
This method uses stereo information.
20.81 % 29.49 % 18.34 % 0.06 s GPU @ 2.5 Ghz (Python + C/C++)
129 DPM-C8B1
This method uses stereo information.
19.17 % 27.79 % 16.48 % 15 s 4 cores @ 2.5 Ghz (Matlab + C/C++)
J. Yebes, L. Bergasa and M. García-Garrido: Visual Object Recognition with 3D-Aware Features in KITTI Urban Scenes. Sensors 2015.
J. Yebes, L. Bergasa, R. Arroyo and A. Lázaro: Supervised learning and evaluation of KITTI's cars detector with DPM. IV 2014.
130 RefinedMPL 17.26 % 25.83 % 15.41 % 0.15 s GPU @ 2.5 Ghz (Python + C/C++)
J. Vianney, S. Aich and B. Liu: RefinedMPL: Refined Monocular PseudoLiDAR for 3D Object Detection in Autonomous Driving. arXiv preprint arXiv:1911.09712 2019.
131 CaDDN 17.13 % 24.45 % 15.79 % 0.63 s GPU @ 2.5 Ghz (Python)
132 RT3DStereo
This method uses stereo information.
15.34 % 21.41 % 13.23 % 0.08 s GPU @ 2.5 Ghz (C/C++)
H. Königshof, N. Salscheider and C. Stiller: Realtime 3D Object Detection for Automated Driving Using Stereo Vision and Semantic Information. Proc. IEEE Intl. Conf. Intelligent Transportation Systems 2019.
133 Simple3D Net 11.95 % 13.63 % 11.68 % 0.02 s GPU @ 2.5 Ghz (Python)
134 CBNet 0.72 % 0.56 % 0.75 % 1 s 4 cores @ 2.5 Ghz (Python)
135 UM3D_TUM 0.00 % 0.00 % 0.00 % 0.05 s 1 core @ 2.5 Ghz (Python)
Table as LaTeX | Only published Methods


Cyclists


Method Setting Code Moderate Easy Hard Runtime Environment
1 HRI-MSP-L
This method makes use of Velodyne laser scans.
82.89 % 91.97 % 75.38 % 0.07 s 1 core @ 2.5 Ghz (C/C++)
2 HRI-ADLab-HZ-AFree 81.97 % 91.28 % 75.28 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
3 Fast VP-RCNN code 81.31 % 89.37 % 74.49 % 0.05 s 1 core @ >3.5 Ghz (python)
4 RangeIoUDet
This method makes use of Velodyne laser scans.
81.24 % 90.24 % 74.49 % 0.02 s 1 core @ 2.5 Ghz (Python)
5 DSA-PV-RCNN
This method makes use of Velodyne laser scans.
80.05 % 88.52 % 74.20 % 0.08 s 1 core @ 2.5 Ghz (Python + C/C++)
6 HRI-ADLab-HZ 79.98 % 89.56 % 72.94 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
7 MMLab PV-RCNN
This method makes use of Velodyne laser scans.
code 79.70 % 86.43 % 72.96 % 0.08 s 1 core @ 2.5 Ghz (Python + C/C++)
S. Shi, C. Guo, L. Jiang, Z. Wang, J. Shi, X. Wang and H. Li: PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detection. CVPR 2020.
8 XView-PartA^2 79.59 % 87.95 % 73.36 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
9 PV-RCNN-v2 78.44 % 85.58 % 71.60 % 0.06 s 1 core @ 2.5 Ghz (Python + C/C++)
10 TBD 78.35 % 88.32 % 71.51 % 0.07 s 1 core @ 2.5 Ghz (Python + C/C++)
11 HotSpotNet 78.31 % 85.79 % 71.24 % 0.04 s 1 core @ 2.5 Ghz (Python + C/C++)
Q. Chen, L. Sun, Z. Wang, K. Jia and A. Yuille: object as hotspots. Proceedings of the European Conference on Computer Vision (ECCV) 2020.
12 CVRS VIC-RCNN 77.69 % 88.39 % 71.45 % 0.08 s 1 core @ 2.5 Ghz (C/C++)
13 MMLab-PartA^2
This method makes use of Velodyne laser scans.
code 77.52 % 88.70 % 70.41 % 0.08 s GPU @ 2.5 Ghz (Python + C/C++)
S. Shi, Z. Wang, J. Shi, X. Wang and H. Li: From Points to Parts: 3D Object Detection from Point Cloud with Part-aware and Part-aggregation Network. IEEE Transactions on Pattern Analysis and Machine Intelligence 2020.
14 PointPainting
This method makes use of Velodyne laser scans.
76.92 % 87.33 % 68.21 % 0.4 s GPU @ 2.5 Ghz (Python + C/C++)
S. Vora, A. Lang, B. Helou and O. Beijbom: PointPainting: Sequential Fusion for 3D Object Detection. CVPR 2020.
15 TBD 76.79 % 87.00 % 70.00 % 0.05 s GPU @ 2.5 Ghz (Python)
16 F-ConvNet
This method makes use of Velodyne laser scans.
code 76.71 % 86.39 % 66.92 % 0.47 s GPU @ 2.5 Ghz (Python + C/C++)
Z. Wang and K. Jia: Frustum ConvNet: Sliding Frustums to Aggregate Local Point-Wise Features for Amodal 3D Object Detection. IROS 2019.
17 CBi-GNN-persons 76.65 % 86.98 % 68.37 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
18 CVIS-DF3D_v2 76.47 % 86.19 % 69.81 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
19 SVGA-Net
This method makes use of Velodyne laser scans.
76.30 % 85.80 % 70.45 % 0.08 s GPU @ 2.5 Ghz (Python + C/C++)
20 FSA-PVRCNN
This method makes use of Velodyne laser scans.
76.20 % 84.19 % 70.29 % 0.06 s 1 core @ 2.5 Ghz (C/C++)
21 CVRS VIC-Net 75.91 % 85.69 % 70.39 % 0.06 s 1 core @ 2.5 Ghz (C/C++)
22 PKRCNN 75.89 % 86.66 % 69.35 % 0.01s 1 core @ 2.5 Ghz (Python)
ERROR: Wrong syntax in BIBTEX file.
23 MSL3D 75.82 % 84.91 % 69.33 % 0.03 s GPU @ 2.5 Ghz (Python)
24 deprecated 75.78 % 83.89 % 70.36 % 0.06 s 1 core @ 2.5 Ghz (C/C++)
25 MVX-Net++ 74.65 % 86.53 % 67.43 % 0.15 s 1 core @ 2.5 Ghz (C/C++)
26 RethinkDet3D 74.33 % 88.54 % 65.20 % 0.15 s 1 core @ 2.5 Ghz (Python)
27 3DBN_2 73.69 % 87.96 % 66.91 % 0.12 s 1 core @ 2.5 Ghz (C/C++)
ERROR: Wrong syntax in BIBTEX file.
28 MGACNet 73.43 % 85.32 % 66.87 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
29 NLK-ALL code 73.32 % 86.61 % 66.56 % 0.04 s 1 core @ 2.5 Ghz (Python + C/C++)
30 Baseline of CA RCNN 73.22 % 85.17 % 66.44 % 0.1 s GPU @ 2.5 Ghz (Python)
31 CVIS-DF3D 73.22 % 85.17 % 66.44 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
32 SRDL
This method uses stereo information.
This method makes use of Velodyne laser scans.
73.21 % 85.22 % 66.45 % 0.15 s GPU @ 2.5 Ghz (Python + C/C++)
33 GAP-soft-filter 72.99 % 84.91 % 65.60 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
34 MMLab-PointRCNN
This method makes use of Velodyne laser scans.
code 72.81 % 85.94 % 65.84 % 0.1 s GPU @ 2.5 Ghz (Python + C/C++)
S. Shi, X. Wang and H. Li: Pointrcnn: 3d object proposal generation and detection from point cloud. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition 2019.
35 PVNet 70.50 % 83.44 % 64.47 % 0,1 s 1 core @ 2.5 Ghz (Python)
36 NLK-3D 70.10 % 85.69 % 63.27 % 0.04 s 1 core @ 2.5 Ghz (Python + C/C++)
37 PF-GAP 69.74 % 86.02 % 62.90 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
38 FCY
This method makes use of Velodyne laser scans.
69.71 % 82.71 % 63.29 % 0.02 s GPU @ 2.5 Ghz (Python)
39 AB3DMOT
This method makes use of Velodyne laser scans.
This is an online method (no batch processing).
code 69.54 % 82.18 % 62.98 % 0.0047s 1 core @ 2.5 Ghz (Python)
X. Weng and K. Kitani: A Baseline for 3D Multi-Object Tracking. arXiv:1907.03961 2019.
40 ARPNET 68.72 % 82.61 % 62.00 % 0.08 s GPU @ 2.5 Ghz (Python + C/C++)
Y. Ye, C. Zhang and X. Hao: ARPNET: attention region proposal network for 3D object detection. Science China Information Sciences 2019.
41 PointPillars
This method makes use of Velodyne laser scans.
code 68.55 % 83.79 % 61.71 % 16 ms 1080ti GPU and Intel i7 CPU
A. Lang, S. Vora, H. Caesar, L. Zhou, J. Yang and O. Beijbom: PointPillars: Fast Encoders for Object Detection from Point Clouds. CVPR 2019.
42 AF_MCLS 67.85 % 85.34 % 60.83 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
43 IGRP+ 67.25 % 83.67 % 60.84 % 0.18 s 1 core @ 2.5 Ghz (Python + C/C++)
44 VICNet 66.83 % 86.12 % 59.74 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
45 CentrNet-FG 66.68 % 82.23 % 59.21 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
46 TANet code 66.37 % 81.15 % 60.10 % 0.035s GPU @ 2.5 Ghz (Python + C/C++)
Z. Liu, X. Zhao, T. Huang, R. Hu, Y. Zhou and X. Bai: TANet: Robust 3D Object Detection from Point Clouds with Triple Attention. AAAI 2020.
47 Pointpillar_TV 65.12 % 78.88 % 58.73 % 0.05 s 1 core @ 2.5 Ghz (C/C++)
48 PFF3D
This method makes use of Velodyne laser scans.
64.06 % 78.02 % 58.06 % 0.05 s GPU @ 3.0 Ghz (Python + C/C++)
49 SubCNN 63.36 % 71.97 % 55.42 % 2 s GPU @ 3.5 Ghz (Python + C/C++)
Y. Xiang, W. Choi, Y. Lin and S. Savarese: Subcategory-aware Convolutional Neural Networks for Object Proposals and Detection. IEEE Winter Conference on Applications of Computer Vision (WACV) 2017.
50 Pose-RCNN 62.02 % 75.74 % 53.99 % 2 s >8 cores @ 2.5 Ghz (Python)
M. Braun, Q. Rao, Y. Wang and F. Flohr: Pose-RCNN: Joint object detection and pose estimation using 3D object proposals. Intelligent Transportation Systems (ITSC), 2016 IEEE 19th International Conference on 2016.
51 SCNet
This method makes use of Velodyne laser scans.
61.11 % 77.77 % 54.82 % 0.04 s GPU @ 3.0 Ghz (Python)
Z. Wang, H. Fu, L. Wang, L. Xiao and B. Dai: SCNet: Subdivision Coding Network for Object Detection Based on 3D Point Cloud. IEEE Access 2019.
52 AVOD-FPN
This method makes use of Velodyne laser scans.
code 58.70 % 69.21 % 53.47 % 0.1 s Titan X (Pascal)
J. Ku, M. Mozifian, J. Lee, A. Harakeh and S. Waslander: Joint 3D Proposal Generation and Object Detection from View Aggregation. IROS 2018.
53 Deep3DBox 58.56 % 68.31 % 50.30 % 1.5 s GPU @ 2.5 Ghz (C/C++)
A. Mousavian, D. Anguelov, J. Flynn and J. Kosecka: 3D Bounding Box Estimation Using Deep Learning and Geometry. CVPR 2017.
54 3DOP
This method uses stereo information.
code 58.45 % 72.24 % 51.91 % 3s GPU @ 2.5 Ghz (Matlab + C/C++)
X. Chen, K. Kundu, Y. Zhu, A. Berneshawi, H. Ma, S. Fidler and R. Urtasun: 3D Object Proposals for Accurate Object Class Detection. NIPS 2015.
55 Complexer-YOLO
This method makes use of Velodyne laser scans.
58.28 % 65.41 % 54.27 % 0.06 s GPU @ 3.5 Ghz (C/C++)
M. Simon, K. Amende, A. Kraus, J. Honer, T. Samann, H. Kaulbersch, S. Milz and H. Michael Gross: Complexer-YOLO: Real-Time 3D Object Detection and Tracking on Semantic Point Clouds. The IEEE Conference on Computer Vision and Pattern Recognition (CVPR) Workshops 2019.
56 CCFNET 57.70 % 72.98 % 51.63 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
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57 DeepStereoOP 56.55 % 69.36 % 49.37 % 3.4 s GPU @ 3.5 Ghz (Matlab + C/C++)
C. Pham and J. Jeon: Robust Object Proposals Re-ranking for Object Detection in Autonomous Driving Using Convolutional Neural Networks. Signal Processing: Image Communiation 2017.
58 Mono3D code 53.96 % 67.33 % 47.91 % 4.2 s GPU @ 2.5 Ghz (Matlab + C/C++)
X. Chen, K. Kundu, Z. Zhang, H. Ma, S. Fidler and R. Urtasun: Monocular 3D Object Detection for Autonomous Driving. CVPR 2016.
59 DAMNET code 51.78 % 69.61 % 47.49 % 1 s 1 core @ 2.5 Ghz (C/C++)
60 AVOD
This method makes use of Velodyne laser scans.
code 51.05 % 64.81 % 45.12 % 0.08 s Titan X (pascal)
J. Ku, M. Mozifian, J. Lee, A. Harakeh and S. Waslander: Joint 3D Proposal Generation and Object Detection from View Aggregation. IROS 2018.
61 BirdNet+
This method makes use of Velodyne laser scans.
code 50.94 % 69.92 % 47.01 % 0.1 s Titan Xp (PyTorch)
A. Barrera, C. Guindel, J. Beltrán and F. García: BirdNet+: End-to-End 3D Object Detection in LiDAR Bird's Eye View. arXiv:2003.04188 [cs.CV] 2020.
62 Mono3CN 50.58 % 66.58 % 45.21 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
63 FRCNN+Or code 49.53 % 63.45 % 43.65 % 0.09 s Titan Xp GPU
C. Guindel, D. Martin and J. Armingol: Fast Joint Object Detection and Viewpoint Estimation for Traffic Scene Understanding. IEEE Intelligent Transportation Systems Magazine 2018.
C. Guindel, D. Martin and J. Armingol: Joint Object Detection and Viewpoint Estimation using CNN features. IEEE International Conference on Vehicular Electronics and Safety (ICVES) 2017.
64 MonoPSR code 49.32 % 58.63 % 43.05 % 0.2 s GPU @ 3.5 Ghz (Python)
J. Ku*, A. Pon* and S. Waslander: Monocular 3D Object Detection Leveraging Accurate Proposals and Shape Reconstruction. CVPR 2019.
65 MonoFlex 47.91 % 65.51 % 40.40 % 0.03 s GPU @ 2.5 Ghz (Python)
66 DLE 45.12 % 61.84 % 37.95 % 0.04 s GPU @ 2.5 Ghz (Python)
67 BirdNet
This method makes use of Velodyne laser scans.
45.03 % 62.69 % 41.88 % 0.11 s Titan Xp (Caffe)
J. Beltrán, C. Guindel, F. Moreno, D. Cruzado, F. García and A. Escalera: BirdNet: A 3D Object Detection Framework from LiDAR Information. 2018 21st International Conference on Intelligent Transportation Systems (ITSC) 2018.
68 UDI-mono3D 44.08 % 57.89 % 37.89 % 0.05 s 1 core @ 2.5 Ghz (Python)
69 SparsePool code 43.50 % 59.77 % 39.36 % 0.13 s 8 cores @ 2.5 Ghz (Python)
Z. Wang, W. Zhan and M. Tomizuka: Fusing bird view lidar point cloud and front view camera image for deep object detection. arXiv preprint arXiv:1711.06703 2017.
70 UDI-mono3D 42.21 % 57.16 % 36.30 % 0.05 s 1 core @ 2.5 Ghz (Python)
71 NL_M3D 41.19 % 57.44 % 36.24 % 0.2 s 1 core @ 2.5 Ghz (Python)
72 sensekitti code 41.14 % 47.48 % 35.07 % 4.5 s GPU @ 2.5 Ghz (Python + C/C++)
B. Yang, J. Yan, Z. Lei and S. Li: Craft Objects from Images. CVPR 2016.
73 CG-Stereo
This method uses stereo information.
40.64 % 60.24 % 35.55 % 0.57 s GeForce RTX 2080 Ti
C. Li, J. Ku and S. Waslander: Confidence Guided Stereo 3D Object Detection with Split Depth Estimation. IROS 2020.
74 MonoPair 39.47 % 53.36 % 33.95 % 0.06 s GPU @ 2.5 Ghz (Python + C/C++)
Y. Chen, L. Tai, K. Sun and M. Li: MonoPair: Monocular 3D Object Detection Using Pairwise Spatial Relationships. The IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2020.
75 MTMono3d 39.06 % 55.32 % 31.70 % 0.05 s 1 core @ 2.5 Ghz (C/C++)
76 MP-Mono 38.27 % 53.06 % 31.65 % 0.16 s GPU @ 2.5 Ghz (Python)
77 DAMono3D 37.09 % 53.94 % 32.91 % 0.09s 1 core @ 2.5 Ghz (C/C++)
78 GA-Aug 36.22 % 46.84 % 31.76 % 0.04 s GPU @ 2.5 Ghz (Python)
79 Disp R-CNN (velo)
This method uses stereo information.
code 35.77 % 50.66 % 30.96 % 0.42 s GPU @ 2.5 Ghz (Python + C/C++)
J. Sun, L. Chen, Y. Xie, S. Zhang, Q. Jiang, X. Zhou and H. Bao: Disp R-CNN: Stereo 3D Object Detection via Shape Prior Guided Instance Disparity Estimation. CVPR 2020.
80 Disp R-CNN
This method uses stereo information.
code 35.76 % 50.64 % 30.95 % 0.42 s GPU @ 2.5 Ghz (Python + C/C++)
J. Sun, L. Chen, Y. Xie, S. Zhang, Q. Jiang, X. Zhou and H. Bao: Disp R-CNN: Stereo 3D Object Detection via Shape Prior Guided Instance Disparity Estimation. CVPR 2020.
81 GAA 35.62 % 48.51 % 30.82 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
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82 Deprecated 34.82 % 50.28 % 29.56 % Deprecated Deprecated
83 Shift R-CNN (mono) code 34.77 % 51.95 % 31.10 % 0.25 s GPU @ 1.5 Ghz (Python)
A. Naiden, V. Paunescu, G. Kim, B. Jeon and M. Leordeanu: Shift R-CNN: Deep Monocular 3D Object Detection With Closed-form Geometric Constraints. ICIP 2019.
84 SparsePool code 34.56 % 43.33 % 31.09 % 0.13 s 8 cores @ 2.5 Ghz (Python)
Z. Wang, W. Zhan and M. Tomizuka: Fusing bird view lidar point cloud and front view camera image for deep object detection. arXiv preprint arXiv:1711.06703 2017.
85 MonoRUn 34.36 % 49.04 % 30.22 % 0.07 s GPU @ 2.5 Ghz (Python + C/C++)
86 KNN-GCNN 34.03 % 39.32 % 31.17 % 0.4 s 1 core @ 2.5 Ghz (Python + C/C++)
87 MMCOM 32.52 % 35.29 % 28.89 % 0.04 s 1 core @ 2.5 Ghz (Python)
88 HWFD 32.51 % 35.23 % 28.94 % 0.21 s one 1080Ti
89 Point-GNN
This method makes use of Velodyne laser scans.
code 32.37 % 36.29 % 29.81 % 0.6 s GPU @ 2.5 Ghz (Python)
W. Shi and R. Rajkumar: Point-GNN: Graph Neural Network for 3D Object Detection in a Point Cloud. CVPR 2020.
90 PP-3D 32.37 % 36.29 % 29.81 % 0.1 s 1 core @ 2.5 Ghz (Python)
91 MonoEF code 32.19 % 43.70 % 27.93 % 0.03 s 1 core @ 2.5 Ghz (Python)
92 dgist_multiDetNet 31.84 % 36.92 % 28.02 % 0.08 s GPU Titanx Pascal (Python)
93 D4LCN code 31.70 % 48.03 % 26.99 % 0.2 s GPU @ 2.5 Ghz (Python + C/C++)
M. Ding, Y. Huo, H. Yi, Z. Wang, J. Shi, Z. Lu and P. Luo: Learning Depth-Guided Convolutions for Monocular 3D Object Detection. CVPR 2020.
94 Center3D 31.68 % 51.51 % 28.45 % 0.05 s GPU @ 3.5 Ghz (Python)
95 Faster RCNN + Gr + A 31.55 % 36.35 % 28.43 % 1.29 s GPU @ 2.5 Ghz (Python)
96 DGIST MT-CNN 31.29 % 36.21 % 27.57 % 0.09 s GPU @ 1.0 Ghz (Python)
97 M3D-RPN code 31.09 % 48.11 % 26.10 % 0.16 s GPU @ 1.5 Ghz (Python)
G. Brazil and X. Liu: M3D-RPN: Monocular 3D Region Proposal Network for Object Detection . ICCV 2019 .
98 FADNet code 30.78 % 43.53 % 26.29 % 0.04 s GPU @ >3.5 Ghz (Python)
99 Multi-task DG 30.31 % 35.07 % 26.90 % 0.06 s GPU @ 2.5 Ghz (Python)
100 Faster RCNN + A 30.12 % 36.03 % 26.98 % 0.19 s GPU @ 2.5 Ghz (Python + C/C++)
101 HR-faster-rcnn 29.82 % 36.89 % 26.45 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
102 DDMP-3D 29.53 % 46.42 % 25.91 % 0.18 s 1 core @ 2.5 Ghz (Python)
103 DP3D 28.41 % 42.17 % 24.02 % 0.07 s GPU @ 1.5 Ghz (Python + C/C++)
104 SS3D 27.79 % 42.95 % 24.26 % 48 ms Tesla V100 (Python)
E. Jörgensen, C. Zach and F. Kahl: Monocular 3D Object Detection and Box Fitting Trained End-to-End Using Intersection-over-Union Loss. CoRR 2019.
105 DP3D 27.47 % 40.80 % 24.16 % 0.05 s GPU @ 1.5 Ghz (Python + C/C++)
106 PG-MonoNet 26.37 % 35.44 % 23.38 % 0.19 s GPU @ 2.5 Ghz (Python)
107 DAM 26.05 % 34.25 % 22.30 % 1 s GPU @ 2.5 Ghz (Python)
108 GA_FULLDATA 25.80 % 33.35 % 22.70 % 1 s 4 cores @ 2.5 Ghz (Python)
109 GA_BALANCE 25.27 % 33.79 % 22.03 % 1 s 1 core @ 2.5 Ghz (Python)
110 PMN 25.14 % 31.98 % 21.92 % 0.2 s 1 core @ 2.5 Ghz (Python)
111 LAPNet 24.40 % 38.54 % 20.17 % 0.03 s 1 core @ 2.5 Ghz (Python)
112 yolo4_5l 23.96 % 31.36 % 21.02 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
113 OSE
This method uses stereo information.
23.93 % 38.00 % 21.58 % 0.1 s GPU @ 2.5 Ghz (C/C++)
114 GAFM 22.84 % 31.62 % 19.88 % 0.5 s 1 core @ 2.5 Ghz (Python)
115 JSU-NET 22.83 % 31.58 % 19.81 % 0.1 s 1 core @ 2.5 Ghz (Python)
116 yolo4 22.04 % 30.58 % 19.33 % 0.02 s 1 core @ 2.5 Ghz (Python)
117 Mag 21.08 % 28.60 % 18.58 % 0.07 s 1 core @ 2.5 Ghz (C/C++)
118 yolo4_5l code 20.79 % 28.67 % 18.35 % 0.02 s 1 core @ 2.5 Ghz (Python + C/C++)
119 DSGN
This method uses stereo information.
code 20.28 % 29.76 % 19.13 % 0.67 s NVIDIA Tesla V100
Y. Chen, S. Liu, X. Shen and J. Jia: DSGN: Deep Stereo Geometry Network for 3D Object Detection. CVPR 2020.
120 CDI3D 20.12 % 24.76 % 18.37 % 0.03 s GPU @ 2.5 Ghz (Python)
121 CaDDN 19.96 % 30.35 % 17.38 % 0.63 s GPU @ 2.5 Ghz (Python)
122 LSVM-MDPM-sv 19.15 % 26.05 % 18.02 % 10 s 4 cores @ 3.0 Ghz (C/C++)
P. Felzenszwalb, R. Girshick, D. McAllester and D. Ramanan: Object Detection with Discriminatively Trained Part-Based Models. PAMI 2010.
A. Geiger, C. Wojek and R. Urtasun: Joint 3D Estimation of Objects and Scene Layout. NIPS 2011.
123 OC Stereo
This method uses stereo information.
code 18.99 % 29.07 % 16.40 % 0.35 s 1 core @ 2.5 Ghz (Python + C/C++)
A. Pon, J. Ku, C. Li and S. Waslander: Object-Centric Stereo Matching for 3D Object Detection. ICRA 2020.
124 DPM-VOC+VP 18.92 % 27.97 % 17.43 % 8 s 1 core @ 2.5 Ghz (C/C++)
B. Pepik, M. Stark, P. Gehler and B. Schiele: Multi-view and 3D Deformable Part Models. IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI) 2015.
125 Scan_YOLO 18.63 % 27.15 % 16.42 % 0.1 s 4 cores @ 3.0 Ghz (Python)
126 yolo_rgb 17.93 % 26.18 % 16.30 % 0.07 s GPU @ 2.5 Ghz (Python)
127 BdCost+DA+BB+MS 17.73 % 23.48 % 14.67 % TBD s 4 cores @ 2.5 Ghz (C/C++)
128 RefinedMPL 16.02 % 26.54 % 13.20 % 0.15 s GPU @ 2.5 Ghz (Python + C/C++)
J. Vianney, S. Aich and B. Liu: RefinedMPL: Refined Monocular PseudoLiDAR for 3D Object Detection in Autonomous Driving. arXiv preprint arXiv:1911.09712 2019.
129 yolo_depth 15.96 % 21.45 % 14.21 % 0.07 s GPU @ 2.5 Ghz (Python)
130 DPM-C8B1
This method uses stereo information.
14.64 % 23.93 % 13.09 % 15 s 4 cores @ 2.5 Ghz (Matlab + C/C++)
J. Yebes, L. Bergasa and M. García-Garrido: Visual Object Recognition with 3D-Aware Features in KITTI Urban Scenes. Sensors 2015.
J. Yebes, L. Bergasa, R. Arroyo and A. Lázaro: Supervised learning and evaluation of KITTI's cars detector with DPM. IV 2014.
131 BdCost+DA+BB 13.30 % 17.22 % 11.04 % TBD s 4 cores @ 2.5 Ghz (C/C++)
132 RT3D-GMP
This method uses stereo information.
8.32 % 11.73 % 7.24 % 0.06 s GPU @ 2.5 Ghz (Python + C/C++)
133 RT3DStereo
This method uses stereo information.
3.88 % 5.46 % 3.54 % 0.08 s GPU @ 2.5 Ghz (C/C++)
H. Königshof, N. Salscheider and C. Stiller: Realtime 3D Object Detection for Automated Driving Using Stereo Vision and Semantic Information. Proc. IEEE Intl. Conf. Intelligent Transportation Systems 2019.
134