\begin{tabular}{c | c | c | c | c | c | c}
{\bf Method} & {\bf Setting} & {\bf Moderate} & {\bf Easy} & {\bf Hard} & {\bf Runtime} & {\bf Environment}\\ \hline
VMVS & la & 68.19 \% & 79.98 \% & 63.18 \% & 0.25 s / GPU & J. Ku, A. Pon, S. Walsh and S. Waslander: Improving 3D object detection for pedestrians with virtual multi-view synthesis orientation estimation. IROS 2019.\\
SubCNN & & 66.70 \% & 79.65 \% & 61.35 \% & 2 s / GPU & 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.\\
F-ConvNet & la & 63.87 \% & 75.19 \% & 58.57 \% & 0.47 s / GPU & Z. Wang and K. Jia: Frustum ConvNet: Sliding Frustums to Aggregate Local Point-Wise Features for Amodal 3D Object Detection. IROS 2019.\\
3DOP & st & 61.48 \% & 74.22 \% & 55.89 \% & 3s / GPU & 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.\\
HotSpotNet & & 60.65 \% & 70.36 \% & 57.42 \% & 0.04 s / 1 core & Q. Chen, L. Sun, Z. Wang, K. Jia and A. Yuille: object as hotspots. Proceedings of the European Conference on Computer Vision (ECCV) 2020.\\
DeepStereoOP & & 60.15 \% & 73.76 \% & 55.30 \% & 3.4 s / GPU & 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.\\
Pose-RCNN & & 59.84 \% & 76.24 \% & 53.59 \% & 2 s / >8 cores & 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.\\
Mono3CN & & 59.17 \% & 72.16 \% & 53.22 \% & 0.1 s / 1 core & \\
FFNet & & 58.87 \% & 69.24 \% & 53.75 \% & 1.07 s / GPU & C. Zhao, Y. Qian and M. Yang: Monocular Pedestrian Orientation Estimation Based on Deep 2D-3D Feedforward. Pattern Recognition 2019.\\
Mono3D & & 58.66 \% & 71.19 \% & 53.94 \% & 4.2 s / GPU & X. Chen, K. Kundu, Z. Zhang, H. Ma, S. Fidler and R. Urtasun: Monocular 3D Object Detection for Autonomous Driving. CVPR 2016.\\
MVX-Net++ & & 54.86 \% & 64.23 \% & 50.85 \% & 0.15 s / 1 core & \\
RethinkDet3D & & 54.72 \% & 63.97 \% & 50.72 \% & 0.15 s / 1 core & \\
MonoPSR & & 54.65 \% & 68.98 \% & 50.07 \% & 0.2 s / GPU & J. Ku*, A. Pon* and S. Waslander: Monocular 3D Object Detection Leveraging Accurate Proposals and Shape Reconstruction. CVPR 2019.\\
Deformable PV-RCNN & la & 54.38 \% & 63.12 \% & 51.98 \% & 0.08 s / 1 core & P. Bhattacharyya and K. Czarnecki: Deformable PV-RCNN: Improving 3D Object Detection with Learned Deformations. ECCV 2020 Perception for Autonomous Driving Workshop.\\
AP-RCNN & & 53.38 \% & 65.13 \% & 49.49 \% & 0.02 s / 1 core & \\
SVGA-Net & la & 53.36 \% & 63.39 \% & 50.43 \% & 0.08 s / GPU & \\
Baseline of CA RCNN & & 53.35 \% & 63.39 \% & 50.42 \% & 0.1 s / GPU & \\
CVIS-DF3D & & 53.35 \% & 63.39 \% & 50.42 \% & 0.05 s / 1 core & \\
IC-SECOND & & 52.63 \% & 61.60 \% & 50.07 \% & 0.06 s / 1 core & \\
MMLab PV-RCNN & la & 52.42 \% & 63.45 \% & 49.23 \% & 0.08 s / 1 core & 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.\\
IC-PVRCNN & & 52.40 \% & 61.31 \% & 50.15 \% & 0.08 s / 1 core & \\
MMLab-PartA^2 & la & 52.20 \% & 63.51 \% & 48.27 \% & 0.08 s / GPU & 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.\\
FRCNN+Or & & 52.15 \% & 67.03 \% & 47.14 \% & 0.09 s / & 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.\\
MGACNet & & 50.52 \% & 60.32 \% & 47.92 \% & 0.05 s / 1 core & \\
CVIS-DF3D\_v2 & & 50.51 \% & 60.74 \% & 47.69 \% & 0.05 s / 1 core & \\
PointPainting & la & 50.22 \% & 59.25 \% & 46.95 \% & 0.4 s / GPU & S. Vora, A. Lang, B. Helou and O. Beijbom: PointPainting: Sequential Fusion for 3D Object Detection. CVPR 2020.\\
deprecated & & 48.72 \% & 57.13 \% & 46.45 \% & 0.06 s / 1 core & \\
ARPNET & & 48.49 \% & 60.47 \% & 45.02 \% & 0.08 s / GPU & Y. Ye, C. Zhang and X. Hao: ARPNET: attention region proposal network for 3D object detection. Science China Information Sciences 2019.\\
3DBN\_2 & & 48.43 \% & 59.19 \% & 45.73 \% & 0.12 s / 1 core & ERROR: Wrong syntax in BIBTEX file.\\
TBD & & 48.34 \% & 58.57 \% & 44.85 \% & 0.05 s / GPU & \\
PointPillars & la & 48.05 \% & 57.47 \% & 45.40 \% & 16 ms / & A. Lang, S. Vora, H. Caesar, L. Zhou, J. Yang and O. Beijbom: PointPillars: Fast Encoders for Object Detection from Point Clouds. CVPR 2019.\\
PPFNet & & 47.73 \% & 55.78 \% & 44.56 \% & 0.1 s / 1 core & \\
MMLab-PointRCNN & la & 47.33 \% & 57.19 \% & 44.31 \% & 0.1 s / GPU & 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.\\
PVNet & & 46.68 \% & 57.18 \% & 44.38 \% & 0,1 s / 1 core & \\
Shift R-CNN (mono) & & 46.56 \% & 64.73 \% & 41.86 \% & 0.25 s / GPU & 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.\\
IGRP+ & & 46.34 \% & 57.61 \% & 42.75 \% & 0.18 s / 1 core & \\
VOXEL\_FPN\_HR & & 45.65 \% & 56.17 \% & 42.10 \% & 0.12 s / 8 cores & ERROR: Wrong syntax in BIBTEX file.\\
UDI-mono3D & & 44.75 \% & 57.42 \% & 40.21 \% & 0.05 s / 1 core & \\
HWFD & & 44.66 \% & 48.89 \% & 42.14 \% & 0.21 s / & \\
SS3D\_HW & & 44.43 \% & 59.56 \% & 38.77 \% & 0.4 s / GPU & \\
SRDL & st la & 44.31 \% & 53.68 \% & 42.32 \% & 0.15 s / GPU & \\
AVOD-FPN & la & 43.99 \% & 53.48 \% & 41.56 \% & 0.1 s / & J. Ku, M. Mozifian, J. Lee, A. Harakeh and S. Waslander: Joint 3D Proposal Generation and Object Detection from View Aggregation. IROS 2018.\\
Disp R-CNN (velo) & st & 43.99 \% & 60.06 \% & 39.79 \% & 0.42 s / GPU & 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.\\
Disp R-CNN & st & 43.76 \% & 60.00 \% & 39.55 \% & 0.42 s / GPU & 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.\\
dgist\_multiDetNet & & 43.48 \% & 49.02 \% & 40.97 \% & 0.08 s / & \\
PiP & & 42.76 \% & 51.23 \% & 40.06 \% & 0.033 s / 1 core & \\
MonoPair & & 42.38 \% & 55.26 \% & 38.53 \% & 0.06 s / GPU & 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.\\
VICNet & & 42.35 \% & 49.90 \% & 39.38 \% & 0.05 s / 1 core & \\
NLK-3D & & 41.71 \% & 54.22 \% & 39.32 \% & 0.04 s / 1 core & \\
MTMono3d & & 41.63 \% & 54.28 \% & 36.32 \% & 0.05 s / 1 core & \\
PFF3D & la & 40.99 \% & 48.75 \% & 38.99 \% & 0.05 s / GPU & \\
Faster RCNN + Gr + A & & 40.92 \% & 47.81 \% & 37.89 \% & 1.29 s / GPU & \\
HR-SECOND & & 40.81 \% & 51.12 \% & 37.48 \% & 0.11 s / 1 core & \\
Faster RCNN + G & & 40.49 \% & 47.16 \% & 37.57 \% & 1.1 s / GPU & \\
Faster RCNN + A & & 39.95 \% & 47.52 \% & 37.08 \% & 0.19 s / GPU & \\
CentrNet-FG & & 39.88 \% & 47.51 \% & 37.49 \% & 0.03 s / 1 core & \\
AB3DMOT & la on & 39.76 \% & 50.30 \% & 36.90 \% & 0.0047s / 1 core & X. Weng and K. Kitani: A Baseline for 3D Multi-Object Tracking. arXiv:1907.03961 2019.\\
FCY & la & 39.67 \% & 51.30 \% & 35.90 \% & 0.02 s / GPU & \\
SS3D & & 39.60 \% & 53.72 \% & 35.40 \% & 48 ms / & 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.\\
Faster RCNN + A & & 39.44 \% & 46.80 \% & 36.46 \% & 0.19 s / GPU & \\
NLK-ALL & & 39.31 \% & 49.20 \% & 35.60 \% & 0.04 s / 1 core & \\
MMCOM & & 39.20 \% & 46.12 \% & 36.81 \% & 0.04 s / 1 core & \\
HR-faster-rcnn & & 39.02 \% & 47.41 \% & 35.57 \% & 0.1 s / 1 core & \\
SemanticVoxels & & 38.95 \% & 45.59 \% & 37.21 \% & 0.04 s / GPU & 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.\\
Multi-task DG & & 38.79 \% & 46.21 \% & 36.07 \% & 0.06 s / GPU & \\
Center3D & & 38.59 \% & 53.15 \% & 34.77 \% & 0.05 s / GPU & \\
DAMNET & & 37.88 \% & 49.72 \% & 35.52 \% & 1 s / 1 core & \\
DPM-VOC+VP & & 37.79 \% & 52.91 \% & 33.27 \% & 8 s / 1 core & 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.\\
CG-Stereo & st & 36.47 \% & 48.23 \% & 32.77 \% & 0.57 s / & C. Li, J. Ku and S. Waslander: Confidence Guided Stereo 3D Object Detection with Split Depth Estimation. IROS 2020.\\
TANet & & 36.21 \% & 42.54 \% & 34.39 \% & 0.035s / GPU & 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.\\
Stereo3D & st & 35.62 \% & 48.99 \% & 31.58 \% & 0.1 s / & \\
PMN & & 35.57 \% & 44.42 \% & 32.68 \% & 0.2 s / 1 core & \\
SCNet & la & 35.49 \% & 44.50 \% & 33.38 \% & 0.04 s / GPU & 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.\\
NL\_M3D & & 35.20 \% & 46.64 \% & 30.56 \% & 0.2 s / 1 core & \\
CRCNNA & & 34.88 \% & 43.18 \% & 31.90 \% & 0.1 s / 1 core & \\
sensekitti & & 34.26 \% & 41.03 \% & 31.51 \% & 4.5 s / GPU & B. Yang, J. Yan, Z. Lei and S. Li: Craft Objects from Images. CVPR 2016.\\
Pointpillar\_TV & & 34.24 \% & 42.95 \% & 32.08 \% & 0.05 s / 1 core & \\
D4LCN & & 33.62 \% & 46.73 \% & 28.71 \% & 0.2 s / GPU & 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.\\
JSU-NET & & 33.55 \% & 45.79 \% & 30.72 \% & 0.1 s / 1 core & \\
DP3D & & 33.35 \% & 46.50 \% & 29.89 \% & 0.05 s / GPU & \\
SparsePool & & 33.35 \% & 43.86 \% & 29.99 \% & 0.13 s / 8 cores & 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.\\
SparsePool & & 33.29 \% & 43.52 \% & 30.01 \% & 0.13 s / 8 cores & 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.\\
LSVM-MDPM-sv & & 33.01 \% & 45.60 \% & 29.27 \% & 10 s / 4 cores & 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.\\
DP3D & & 32.99 \% & 44.19 \% & 28.19 \% & 0.07 s / GPU & \\
AVOD & la & 32.19 \% & 42.54 \% & 29.09 \% & 0.08 s / & J. Ku, M. Mozifian, J. Lee, A. Harakeh and S. Waslander: Joint 3D Proposal Generation and Object Detection from View Aggregation. IROS 2018.\\
Complexer-YOLO & la & 32.13 \% & 37.32 \% & 28.94 \% & 0.06 s / GPU & 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.\\
RPN+BF & & 32.12 \% & 41.19 \% & 28.83 \% & 0.6 s / GPU & L. Zhang, L. Lin, X. Liang and K. He: Is Faster R-CNN Doing Well for Pedestrian Detection?. ECCV 2016.\\
MP-Mono & & 32.02 \% & 44.19 \% & 28.72 \% & 0.16 s / GPU & \\
KNN-GCNN & & 31.91 \% & 39.25 \% & 29.76 \% & 0.4 s / 1 core & \\
M3D-RPN & & 31.88 \% & 44.33 \% & 28.55 \% & 0.16 s / GPU & G. Brazil and X. Liu: M3D-RPN: Monocular 3D Region Proposal Network for Object Detection . ICCV 2019 .\\
Point-GNN & la & 31.86 \% & 39.16 \% & 29.65 \% & 0.6 s / GPU & W. Shi and R. Rajkumar: Point-GNN: Graph Neural Network for 3D Object Detection in a Point Cloud. CVPR 2020.\\
PP-3D & & 31.86 \% & 39.16 \% & 29.65 \% & 0.1 s / 1 core & \\
yolo4\_5l & & 31.53 \% & 40.97 \% & 27.63 \% & 0.02 s / 1 core & \\
SubCat & & 31.26 \% & 42.31 \% & 27.39 \% & 1.2 s / 6 cores & E. Ohn-Bar and M. Trivedi: Fast and Robust Object Detection Using Visual Subcategories. Computer Vision and Pattern Recognition Workshops Mobile Vision 2014.\\
DAM & & 30.58 \% & 41.32 \% & 27.84 \% & 1 s / GPU & \\
Mag & & 30.28 \% & 39.29 \% & 27.59 \% & 0.07 s / 1 core & \\
yolo4 & & 30.09 \% & 40.84 \% & 27.35 \% & 0.02 s / 1 core & \\
PB3D & st & 30.02 \% & 40.27 \% & 26.86 \% & 0.42 s / 1 core & \\
PG-MonoNet & & 29.56 \% & 37.28 \% & 26.48 \% & 0.19 s / GPU & \\
BirdNet+ & la & 29.56 \% & 36.76 \% & 28.10 \% & 0.1 s / & 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.\\
CDI3D & & 29.51 \% & 36.82 \% & 27.23 \% & 0.03 s / GPU & \\
yolo4\_5l & & 28.60 \% & 38.95 \% & 25.97 \% & 0.02 s / 1 core & \\
LZnet & & 28.60 \% & 34.17 \% & 27.09 \% & 0.08 s / 1 core & \\
yolo\_depth & & 28.06 \% & 38.75 \% & 25.37 \% & 0.07 s / GPU & \\
LAPNet & & 27.11 \% & 37.41 \% & 24.04 \% & 0.03 s / 1 core & \\
yolo\_rgb & & 26.85 \% & 35.91 \% & 24.37 \% & 0.07 s / GPU & \\
EACV & & 25.81 \% & 34.71 \% & 23.36 \% & 0.04 s / 1 core & \\
DSGN & st & 24.32 \% & 31.21 \% & 23.09 \% & 0.67 s / & Y. Chen, S. Liu, X. Shen and J. Jia: DSGN: Deep Stereo Geometry Network for 3D Object Detection. CVPR 2020.\\
ACF & & 24.31 \% & 32.23 \% & 21.70 \% & 1 s / 1 core & P. Doll\'ar, R. Appel, S. Belongie and P. Perona: Fast Feature Pyramids for Object Detection. PAMI 2014.\\
multi-task CNN & & 22.80 \% & 30.30 \% & 20.47 \% & 25.1 ms / GPU & M. Oeljeklaus, F. Hoffmann and T. Bertram: A Fast Multi-Task CNN for Spatial Understanding of Traffic Scenes. IEEE Intelligent Transportation Systems Conference 2018.\\
ACF-MR & & 22.61 \% & 29.23 \% & 20.08 \% & 0.6 s / 1 core & R. Rajaram, E. Ohn-Bar and M. Trivedi: Looking at Pedestrians at Different Scales: A Multi-resolution Approach and Evaluations. T-ITS 2016.\\
OC Stereo & st & 22.02 \% & 31.36 \% & 20.20 \% & 0.35 s / 1 core & A. Pon, J. Ku, C. Li and S. Waslander: Object-Centric Stereo Matching for 3D Object Detection. ICRA 2020.\\
BirdNet & la & 21.83 \% & 27.12 \% & 20.56 \% & 0.11 s / & 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.\\
RT3D-GMP & st & 20.81 \% & 29.49 \% & 18.34 \% & 0.06 s / GPU & \\
DPM-C8B1 & st & 19.17 \% & 27.79 \% & 16.48 \% & 15 s / 4 cores & 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.\\
RefinedMPL & & 17.26 \% & 25.83 \% & 15.41 \% & 0.15 s / GPU & J. Vianney, S. Aich and B. Liu: RefinedMPL: Refined Monocular PseudoLiDAR for 3D Object Detection in Autonomous Driving. arXiv preprint arXiv:1911.09712 2019.\\
RT3DStereo & st & 15.34 \% & 21.41 \% & 13.23 \% & 0.08 s / GPU & 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.\\
Simple3D Net & & 11.95 \% & 13.63 \% & 11.68 \% & 0.02 s / GPU & \\
CBNet & & 0.72 \% & 0.56 \% & 0.75 \% & 1 s / 4 cores & \\
UM3D\_TUM & & 0.00 \% & 0.00 \% & 0.00 \% & 0.05 s / 1 core &
\end{tabular}