3D Object Detection Evaluation 2017


The 3D object detection benchmark consists of 7481 training images and 7518 test images as well as the corresponding point clouds, comprising a total of 80.256 labeled objects. For evaluation, we compute precision-recall curves. To rank the methods we compute average precision. 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 3D object detection performance using the PASCAL criteria also used for 2D object detection. Far objects are thus filtered based on their bounding box height in the image plane. As only objects also appearing on the image plane are labeled, objects in don't car areas do not count as false positives. We note that the evaluation does not take care of ignoring detections that are not visible on the image plane — these detections might give rise to false positives. For cars we require an 3D bounding box overlap of 70%, while for pedestrians and cyclists we require a 3D bounding box overlap of 50%. 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 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 VirConv-S code 87.20 % 92.48 % 82.45 % 0.09 s 1 core @ 2.5 Ghz (C/C++)
H. Wu, C. Wen, S. Shi and C. Wang: Virtual Sparse Convolution for Multimodal 3D Object Detection. CVPR 2023.
2 VirConv-T code 86.25 % 92.54 % 81.24 % 0.09 s 1 core @ 2.5 Ghz (C/C++)
H. Wu, C. Wen, S. Shi and C. Wang: Virtual Sparse Convolution for Multimodal 3D Object Detection. CVPR 2023.
3 HPC-Net 85.50 % 92.08 % 82.65 % 0.18 s 1 core @ 2.5 Ghz (C/C++)
4 Anomynous 85.47 % 92.03 % 78.64 % 0.09 s 1 core @ 2.5 Ghz (C/C++)
5 TED code 85.28 % 91.61 % 80.68 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
H. Wu, C. Wen, W. Li, R. Yang and C. Wang: Transformation-Equivariant 3D Object Detection for Autonomous Driving. AAAI 2023.
6 LoGoNet 85.06 % 91.80 % 80.74 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
X. Li, T. Ma, Y. Hou, B. Shi, Y. Yang, Y. Liu, X. Wu, Q. Chen, Y. Li, Y. Qiao and others: LoGoNet: Towards Accurate 3D Object Detection with Local-to-Global Cross-Modal Fusion. CVPR 2023.
7 VirConv-L 85.05 % 91.41 % 80.22 % 0.05 s 1 core @ 2.5 Ghz (C/C++)
8 LIVOX_Det
This method makes use of Velodyne laser scans.
 84.94 % 91.72 % 80.10 % n/a s 1 core @ 2.5 Ghz (Python + C/C++)
9 SFD code 84.76 % 91.73 % 77.92 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
X. Wu, L. Peng, H. Yang, L. Xie, C. Huang, C. Deng, H. Liu and D. Cai: Sparse Fuse Dense: Towards High Quality 3D Detection with Depth Completion. CVPR 2022.
10 VoCo 84.76 % 91.99 % 79.81 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
11 ACF-Net 84.67 % 90.80 % 80.14 % n/a s 1 core @ 2.5 Ghz (C/C++)
12 SA-Net 84.39 % 91.37 % 77.61 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
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13 NSAW code 84.30 % 90.57 % 77.46 % 0.1 s 1 core @ 2.5 Ghz (Python)
14 CasA++ code 84.04 % 90.68 % 79.69 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
H. Wu, J. Deng, C. Wen, X. Li and C. Wang: CasA: A Cascade Attention Network for 3D Object Detection from LiDAR point clouds. IEEE Transactions on Geoscience and Remote Sensing 2022.
15 Anonymous 83.98 % 91.14 % 79.62 % 0.1 s GPU @ 2.5 Ghz (Python)
16 CASDC 83.95 % 88.50 % 77.21 % 0.1 s 1 core @ 2.5 Ghz (Python)
17 Anonymous 83.51 % 89.08 % 78.94 % n/a s 1 core @ 2.5 Ghz (C/C++)
18 3D HA Net code 83.40 % 91.59 % 78.57 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
Q. Xia, Y. Chen, G. Cai, G. Chen, D. Xie, J. Su and Z. Wang: 3D HANet: A Flexible 3D Heatmap Auxiliary Network for Object Detection. IEEE Transactions on Geoscience and Remote Sensing 2023.
19 GraR-VoI code 83.27 % 91.89 % 77.78 % 0.07 s 1 core @ 2.5 Ghz (Python + C/C++)
H. Yang, Z. Liu, X. Wu, W. Wang, W. Qian, X. He and D. Cai: Graph R-CNN: Towards Accurate 3D Object Detection with Semantic-Decorated Local Graph. ECCV 2022.
20 SoRL-V 83.24 % 90.07 % 76.37 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
21 GLENet-VR code 83.23 % 91.67 % 78.43 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
Y. Zhang, Q. Zhang, Z. Zhu, J. Hou and Y. Yuan: GLENet: Boosting 3D Object Detectors with Generative Label Uncertainty Estimation. arXiv preprint arXiv:2207.02466 2022.
22 VPFNet code 83.21 % 91.02 % 78.20 % 0.06 s 2 cores @ 2.5 Ghz (Python)
H. Zhu, J. Deng, Y. Zhang, J. Ji, Q. Mao, H. Li and Y. Zhang: VPFNet: Improving 3D Object Detection with Virtual Point based LiDAR and Stereo Data Fusion. IEEE Transactions on Multimedia 2022.
23 GraR-Po code 83.18 % 91.79 % 77.98 % 0.06 s 1 core @ 2.5 Ghz (Python + C/C++)
H. Yang, Z. Liu, X. Wu, W. Wang, W. Qian, X. He and D. Cai: Graph R-CNN: Towards Accurate 3D Object Detection with Semantic-Decorated Local Graph. ECCV 2022.
24 CasA code 83.06 % 91.58 % 80.08 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
H. Wu, J. Deng, C. Wen, X. Li and C. Wang: CasA: A Cascade Attention Network for 3D Object Detection from LiDAR point clouds. IEEE Transactions on Geoscience and Remote Sensing 2022.
25 BiProDet code 82.97 % 89.13 % 80.05 % 0.1 s GPU @ 2.5 Ghz (Python + C/C++)
Y. Zhang, Q. Zhang, J. Hou, Y. Yuan and G. Xing: Bidirectional Propagation for Cross- Modal 3D Object Detection. International Conference on Learning Representations .
26 SoRL 82.95 % 91.83 % 78.12 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
27 HRNet++ 82.91 % 91.82 % 78.07 % 0.07 s 1 core @ 2.5 Ghz (C/C++)
28 BtcDet
This method makes use of Velodyne laser scans.
 code 82.86 % 90.64 % 78.09 % 0.09 s GPU @ 2.5 Ghz (Python + C/C++)
Q. Xu, Y. Zhong and U. Neumann: Behind the Curtain: Learning Occluded Shapes for 3D Object Detection. Proceedings of the AAAI Conference on Artificial Intelligence 2022.
29 DAF-SSD 82.86 % 91.77 % 75.35 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
30 HRNet 82.81 % 91.36 % 79.81 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
31 GraR-Vo code 82.77 % 91.29 % 77.20 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
H. Yang, Z. Liu, X. Wu, W. Wang, W. Qian, X. He and D. Cai: Graph R-CNN: Towards Accurate 3D Object Detection with Semantic-Decorated Local Graph. ECCV 2022.
32 GT3D 82.76 % 91.45 % 79.74 % 0.1 s 1 core @ 2.5 Ghz (Python)
33 3SNet 82.70 % 89.41 % 78.03 % 0.07 s GPU @ 2.5 Ghz (Python)
34 SPG_mini
This method makes use of Velodyne laser scans.
 code 82.66 % 90.64 % 77.91 % 0.09 s GPU @ 2.5 Ghz (Python)
Q. Xu, Y. Zhou, W. Wang, C. Qi and D. Anguelov: SPG: Unsupervised Domain Adaptation for 3D Object Detection via Semantic Point Generation. Proceedings of the IEEE conference on computer vision and pattern recognition (ICCV) 2021.
35 VoxelGraphRCNN 82.66 % 91.33 % 77.93 % 0.07 s 1 core @ 2.5 Ghz (C/C++)
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36 SGFusion 82.64 % 91.13 % 77.53 % 0.06 s 1 core @ 2.5 Ghz (C/C++)
ERROR: Wrong syntax in BIBTEX file.
37 OcTr 82.64 % 90.88 % 77.77 % 0.06 s GPU @ 2.5 Ghz (Python + C/C++)
38 PA3DNet 82.57 % 90.49 % 77.88 % 0.1 s GPU @ 2.5 Ghz (Python + C/C++)
M. Wang, L. Zhao and Y. Yue: PA3DNet: 3-D Vehicle Detection with Pseudo Shape Segmentation and Adaptive Camera- LiDAR Fusion. IEEE Transactions on Industrial Informatics 2023.
39 POP-RCNN 82.54 % 91.02 % 77.76 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
40 SE-SSD
This method makes use of Velodyne laser scans.
 code 82.54 % 91.49 % 77.15 % 0.03 s 1 core @ 2.5 Ghz (Python + C/C++)
W. Zheng, W. Tang, L. Jiang and C. Fu: SE-SSD: Self-Ensembling Single-Stage Object Detector From Point Cloud. CVPR 2021.
41 MMF 82.50 % 89.05 % 77.59 % 1 s 1 core @ 2.5 Ghz (C/C++)
42 Anonymous 82.46 % 89.10 % 77.78 % 0.1 s GPU @ 2.5 Ghz (Python)
43 DVF-V 82.45 % 89.40 % 77.56 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
A. Mahmoud, J. Hu and S. Waslander: Dense Voxel Fusion for 3D Object Detection. WACV 2023.
44 PA-RCNN code 82.44 % 90.94 % 77.69 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
45 GraR-Pi code 82.42 % 90.94 % 77.00 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
H. Yang, Z. Liu, X. Wu, W. Wang, W. Qian, X. He and D. Cai: Graph R-CNN: Towards Accurate 3D Object Detection with Semantic-Decorated Local Graph. ECCV 2022.
46 R^2 R-CNN 82.42 % 90.93 % 77.84 % 0.1 s 1 core @ 2.5 Ghz (Python)
47 DVF-PV 82.40 % 90.99 % 77.37 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
A. Mahmoud, J. Hu and S. Waslander: Dense Voxel Fusion for 3D Object Detection. WACV 2023.
48 3D Dual-Fusion code 82.40 % 91.01 % 79.39 % 0.1 s 1 core @ 2.5 Ghz (Python)
Y. Kim, K. Park, M. Kim, D. Kum and J. Choi: 3D Dual-Fusion: Dual-Domain Dual-Query Camera-LiDAR Fusion for 3D Object Detection. arXiv preprint arXiv:2211.13529 2022.
49 NIV-SSD 82.37 % 89.74 % 75.06 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
50 Anomynous 82.37 % 88.98 % 77.72 % 0.09 s 1 core @ 2.5 Ghz (C/C++)
51 VGT-RCNN 82.36 % 91.24 % 79.34 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
52 RDIoU code 82.30 % 90.65 % 77.26 % 0.03 s 1 core @ 2.5 Ghz (Python + C/C++)
H. Sheng, S. Cai, N. Zhao, B. Deng, J. Huang, X. Hua, M. Zhao and G. Lee: Rethinking IoU-based Optimization for Single- stage 3D Object Detection. ECCV 2022.
53 PVT-SSD 82.29 % 90.65 % 76.85 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
54 Anonymous 82.29 % 88.40 % 77.63 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
55 Focals Conv code 82.28 % 90.55 % 77.59 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
Y. Chen, Y. Li, X. Zhang, J. Sun and J. Jia: Focal Sparse Convolutional Networks for 3D Object Detection. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition 2022.
56 CLOCs code 82.28 % 89.16 % 77.23 % 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.
57 Anonymous 82.24 % 88.83 % 77.62 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
58 SPT 82.18 % 90.52 % 77.62 % 0.1 s GPU @ 2.5 Ghz (Python)
59 SASA
This method makes use of Velodyne laser scans.
 code 82.16 % 88.76 % 77.16 % 0.04 s 1 core @ 2.5 Ghz (Python + C/C++)
C. Chen, Z. Chen, J. Zhang and D. Tao: SASA: Semantics-Augmented Set Abstraction for Point-based 3D Object Detection. arXiv preprint arXiv:2201.01976 2022.
60 LightCPC code 82.15 % 88.93 % 77.04 % 0.02 s 1 core @ 2.5 Ghz (Python + C/C++)
61 ImpDet 82.14 % 88.39 % 76.98 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
62 SPG
This method makes use of Velodyne laser scans.
 code 82.13 % 90.50 % 78.90 % 0.09 s 1 core @ 2.5 Ghz (Python + C/C++)
Q. Xu, Y. Zhou, W. Wang, C. Qi and D. Anguelov: SPG: Unsupervised Domain Adaptation for 3D Object Detection via Semantic Point Generation. Proceedings of the IEEE conference on computer vision and pattern recognition (ICCV) 2021.
63 3D-BCM 82.12 % 90.34 % 77.13 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
64 RangeRCNN++ code 82.11 % 88.77 % 77.65 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
65 SPNet code 82.11 % 88.53 % 77.41 % 0.08 s 1 core @ 2.5 Ghz (C/C++)
66 VoTr-TSD code 82.09 % 89.90 % 79.14 % 0.07 s 1 core @ 2.5 Ghz (C/C++)
J. Mao, Y. Xue, M. Niu, H. Bai, J. Feng, X. Liang, H. Xu and C. Xu: Voxel Transformer for 3D Object Detection. ICCV 2021.
67 PV-DT3D 82.09 % 90.07 % 77.51 % 1.4 s 1 core @ 2.5 Ghz (C/C++)
68 Pyramid R-CNN 82.08 % 88.39 % 77.49 % 0.07 s 1 core @ 2.5 Ghz (C/C++)
J. Mao, M. Niu, H. Bai, X. Liang, H. Xu and C. Xu: Pyramid R-CNN: Towards Better Performance and Adaptability for 3D Object Detection. ICCV 2021.
69 VoxSeT code 82.06 % 88.53 % 77.46 % 33 ms 1 core @ 2.5 Ghz (C/C++)
C. He, R. Li, S. Li and L. Zhang: Voxel Set Transformer: A Set-to-Set Approach to 3D Object Detection from Point Clouds. CVPR 2022.
70 Multi-Weights 82.05 % 90.06 % 77.36 % 0.1 s GPU @ 2.5 Ghz (Python + C/C++)
71 ChTR3D 82.02 % 90.43 % 77.42 % 0.06 s 1 core @ 2.5 Ghz (Python + C/C++)
72 EQ-PVRCNN code 82.01 % 90.13 % 77.53 % 0.2 s GPU @ 2.5 Ghz (Python + C/C++)
Z. Yang, L. Jiang, Y. Sun, B. Schiele and J. Jia: A Unified Query-based Paradigm for Point Cloud Understanding. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition 2022.
73 GS-FPS code 82.00 % 88.78 % 77.08 % TBD s 1 core @ 2.5 Ghz (C/C++)
74 Anonymous
This method makes use of Velodyne laser scans.
 82.00 % 90.78 % 77.44 % 0.05 s GPU @ 3.0 Ghz (Python + C/C++)
75 EPNet++ 81.96 % 91.37 % 76.71 % 0.1 s GPU @ 2.5 Ghz (Python)
Z. Liu, T. Huang, B. Li, X. Chen, X. Wang and X. Bai: EPNet++: Cascade Bi-Directional Fusion for Multi-Modal 3D Object Detection. IEEE Transactions on Pattern Analysis and Machine Intelligence 2022.
76 USVLab BSAODet code 81.95 % 88.66 % 77.40 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
W. Xiao, Y. Peng, C. Liu, J. Gao, Y. Wu and X. Li: Balanced Sample Assignment and Objective for Single-Model Multi-Class 3D Object Detection. IEEE Transactions on Circuits and Systems for Video Technology 2023.
77 HMFI code 81.93 % 88.90 % 77.30 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
X. Li, B. Shi, Y. Hou, X. Wu, T. Ma, Y. Li and L. He: Homogeneous Multi-modal Feature Fusion and Interaction for 3D Object Detection. ECCV 2022.
78 BSH-Det3D 81.91 % 88.75 % 77.36 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
79 SGDA3D 81.86 % 88.82 % 77.26 % 0.07 s 1 core @ 2.5 Ghz (Python)
80 PDV code 81.86 % 90.43 % 77.36 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
J. Hu, T. Kuai and S. Waslander: Point Density-Aware Voxels for LiDAR 3D Object Detection. CVPR 2022.
81 FV2P v2 81.81 % 88.17 % 77.43 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
82 ChTR3D 81.80 % 88.00 % 77.17 % 0.06 s 1 core @ 2.5 Ghz (Python + C/C++)
83 CityBrainLab-CT3D code 81.77 % 87.83 % 77.16 % 0.07 s 1 core @ 2.5 Ghz (Python + C/C++)
H. Sheng, S. Cai, Y. Liu, B. Deng, J. Huang, X. Hua and M. Zhao: Improving 3D Object Detection with Channel- wise Transformer. ICCV 2021.
84 GV-RCNN code 81.75 % 90.31 % 77.17 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
85 M3DeTR code 81.73 % 90.28 % 76.96 % n/a s GPU @ 1.0 Ghz (Python)
T. Guan, J. Wang, S. Lan, R. Chandra, Z. Wu, L. Davis and D. Manocha: M3DeTR: Multi-representation, Multi- scale, Mutual-relation 3D Object Detection with Transformers. 2021.
86 SIENet code 81.71 % 88.22 % 77.22 % 0.08 s 1 core @ 2.5 Ghz (Python)
Z. Li, Y. Yao, Z. Quan, W. Yang and J. Xie: SIENet: Spatial Information Enhancement Network for 3D Object Detection from Point Cloud. 2021.
87 VGRCNN++ 81.71 % 90.15 % 77.14 % 0.07 s 1 core @ 2.5 Ghz (C/C++)
88 Under Blind Review#2 81.70 % 88.33 % 77.20 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
89 IKT3D
This method makes use of Velodyne laser scans.
 81.65 % 90.00 % 77.02 % 0.05 s 1 core @ 2.5 Ghz (Python)
90 Voxel R-CNN code 81.62 % 90.90 % 77.06 % 0.04 s GPU @ 3.0 Ghz (C/C++)
J. Deng, S. Shi, P. Li, W. Zhou, Y. Zhang and H. Li: Voxel R-CNN: Towards High Performance Voxel-based 3D Object Detection . AAAI 2021.
91 BADet code 81.61 % 89.28 % 76.58 % 0.14 s 1 core @ 2.5 Ghz (C/C++)
R. Qian, X. Lai and X. Li: BADet: Boundary-Aware 3D Object Detection from Point Clouds. Pattern Recognition 2022.
92 Semantical PVRCNN 81.60 % 90.53 % 77.07 % 0.07 s 1 core @ 2.5 Ghz (C/C++)
93 VG-RCNN 81.60 % 88.55 % 77.13 % 0.07 s 1 core @ 2.5 Ghz (C/C++)
94 FromVoxelToPoint code 81.58 % 88.53 % 77.37 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
J. Li, H. Dai, L. Shao and Y. Ding: From Voxel to Point: IoU-guided 3D Object Detection for Point Cloud with Voxel-to- Point Decoder. MM '21: The 29th ACM International Conference on Multimedia (ACM MM) 2021.
95 H^23D R-CNN code 81.55 % 90.43 % 77.22 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
J. Deng, W. Zhou, Y. Zhang and H. Li: From Multi-View to Hollow-3D: Hallucinated Hollow-3D R-CNN for 3D Object Detection. IEEE Transactions on Circuits and Systems for Video Technology 2021.
96 Anonymous 81.55 % 87.90 % 77.03 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
97 FARP-Net code 81.53 % 88.36 % 78.98 % 0.06 s GPU @ 2.5 Ghz (Python + C/C++)
98 HybridPillars 81.48 % 90.06 % 76.94 % 0.05 s 1 core @ 2.5 Ghz (C/C++)
99 DSA-PV-RCNN
This method makes use of Velodyne laser scans.
 code 81.46 % 88.25 % 76.96 % 0.08 s 1 core @ 2.5 Ghz (Python + C/C++)
P. Bhattacharyya, C. Huang and K. Czarnecki: SA-Det3D: Self-Attention Based Context-Aware 3D Object Detection. 2021.
100 MPFusion 81.46 % 87.71 % 76.84 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
101 P2V-RCNN 81.45 % 88.34 % 77.20 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
J. Li, S. Luo, Z. Zhu, H. Dai, A. Krylov, Y. Ding and L. Shao: P2V-RCNN: Point to Voxel Feature Learning for 3D Object Detection from Point Clouds. IEEE Access 2021.
102 CZY_3917 81.45 % 90.11 % 77.00 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
103 MMLab PV-RCNN
This method makes use of Velodyne laser scans.
 code 81.43 % 90.25 % 76.82 % 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.
104 Rnet 81.41 % 88.62 % 76.94 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
105 CZY_PPF_Net2 81.39 % 90.44 % 77.02 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
106 PV-PMRTNet 81.39 % 90.66 % 76.93 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
107 VGA-RCNN 81.38 % 88.38 % 76.67 % 0.07 s 1 core @ 2.5 Ghz (Python)
108 DTE3D 81.37 % 88.36 % 76.71 % 0.15s 1 core @ 2.5 Ghz (C/C++)
109 VGRCNN 81.36 % 88.43 % 76.89 % 0.07 s 1 core @ 2.5 Ghz (C/C++)
110 XView 81.35 % 89.21 % 76.87 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
L. Xie, G. Xu, D. Cai and X. He: X-view: Non-egocentric Multi-View 3D Object Detector. 2021.
111 RangeRCNN
This method makes use of Velodyne laser scans.
 81.33 % 88.47 % 77.09 % 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.
112 CAT-Det 81.32 % 89.87 % 76.68 % 0.3 s GPU @ 2.5 Ghz (Python + C/C++)
Y. Zhang, J. Chen and D. Huang: CAT-Det: Contrastively Augmented Transformer for Multi-modal 3D Object Detection. CVPR 2022.
113 ChTR3D 81.19 % 87.81 % 76.70 % 0.06 s 1 core @ 2.5 Ghz (Python + C/C++)
114 PVE 81.15 % 89.39 % 76.71 % 0.3 s 1 core @ 2.5 Ghz (C/C++)
115 MVENet 81.03 % 87.75 % 76.52 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
116 AGS-SSD[la] 81.02 % 88.38 % 76.45 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
117 VPFNet code 80.97 % 88.51 % 76.74 % 0.2 s 1 core @ 2.5 Ghz (C/C++)
C. Wang, H. Chen and L. Fu: VPFNet: Voxel-Pixel Fusion Network for Multi-class 3D Object Detection. 2021.
118 Anonymous 80.92 % 88.02 % 76.45 % 0.03s
119 TVTr 80.85 % 89.51 % 76.46 % 0.08 s 1 core @ 2.5 Ghz (Python)
120 NV-RCNN 80.78 % 86.35 % 76.39 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
121 Sem-Aug
This method makes use of Velodyne laser scans.
 80.77 % 89.41 % 75.90 % 0.1 s GPU @ 2.5 Ghz (Python)
L. Zhao, M. Wang and Y. Yue: Sem-Aug: Improving Camera-LiDAR Feature Fusion With Semantic Augmentation for 3D Vehicle Detection. IEEE Robotics and Automation Letters 2022.
122 StructuralIF 80.69 % 87.15 % 76.26 % 0.02 s 8 cores @ 2.5 Ghz (Python)
J. Pei An: Deep structural information fusion for 3D object detection on LiDAR-camera system. Accepted in CVIU 2021.
123 DGT-Det3D code 80.68 % 87.89 % 76.02 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
124 CLOCs_PVCas code 80.67 % 88.94 % 77.15 % 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.
125 U_RVRCNN_V2_1 80.67 % 87.49 % 76.21 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
126 BSConv 80.65 % 87.41 % 74.15 % 0.1 s 1 core @ 2.5 Ghz (Java)
127 HPV-RCNN 80.61 % 89.33 % 75.53 % 0.08 s 1 core @ 2.5 Ghz (Python)
128 Anonymous 80.56 % 86.82 % 76.11 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
129 SVGA-Net 80.47 % 87.33 % 75.91 % 0.03s 1 core @ 2.5 Ghz (Python + C/C++)
Q. He, Z. Wang, H. Zeng, Y. Zeng and Y. Liu: SVGA-Net: Sparse Voxel-Graph Attention Network for 3D Object Detection from Point Clouds. AAAI 2022.
130 SC-Voxel-RCNN 80.46 % 86.94 % 75.85 % 0.12 s GPU @ 1.0 Ghz (Python)
131 SRDL 80.38 % 87.73 % 76.27 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
ERROR: Wrong syntax in BIBTEX file.
132 Fast-CLOCs 80.35 % 89.10 % 76.99 % 0.1 s GPU @ 2.5 Ghz (Python)
S. Pang, D. Morris and H. Radha: Fast-CLOCs: Fast Camera-LiDAR Object Candidates Fusion for 3D Object Detection. Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision (WACV) 2022.
133 SPANet 80.34 % 91.05 % 74.89 % 0.06 s 1 core @ 2.5 Ghz (C/C++)
Y. Ye: SPANet: Spatial and Part-Aware Aggregation Network for 3D Object Detection. Pacific Rim International Conference on Artificial Intelligence 2021.
134 IA-SSD (single) code 80.32 % 88.87 % 75.10 % 0.013 s 1 core @ 2.5 Ghz (C/C++)
Y. Zhang, Q. Hu, G. Xu, Y. Ma, J. Wan and Y. Guo: Not All Points Are Equal: Learning Highly Efficient Point-based Detectors for 3D LiDAR Point Clouds. CVPR 2022.
135 CIA-SSD
This method makes use of Velodyne laser scans.
 code 80.28 % 89.59 % 72.87 % 0.03 s 1 core @ 2.5 Ghz (Python + C/C++)
W. Zheng, W. Tang, S. Chen, L. Jiang and C. Fu: CIA-SSD: Confident IoU-Aware Single-Stage Object Detector From Point Cloud. AAAI 2021.
136 IPS 80.27 % 88.94 % 76.72 % TBD s 1 core @ 2.5 Ghz (C/C++)
137 PVRCNN_8369 80.25 % 87.45 % 76.19 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
138 GENet 80.24 % 86.64 % 76.00 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
139 GS 80.23 % 88.61 % 75.17 % TBD s 1 core @ 2.5 Ghz (C/C++)
140 ATT_SSD 80.23 % 88.74 % 75.10 % 0.01 s 1 core @ 2.5 Ghz (Python)
141 TTT_SSD 80.19 % 88.41 % 76.77 % TBD s 1 core @ 2.5 Ghz (C/C++)
142 SWA code 80.16 % 88.45 % 76.77 % 0.18 s 1 core @ 2.5 Ghz (C/C++)
143 GEO_LOC 80.15 % 88.79 % 75.03 % TBD s 1 core @ 2.5 Ghz (C/C++)
144 IA-SSD (multi) code 80.13 % 88.34 % 75.04 % 0.014 s 1 core @ 2.5 Ghz (C/C++)
Y. Zhang, Q. Hu, G. Xu, Y. Ma, J. Wan and Y. Guo: Not All Points Are Equal: Learning Highly Efficient Point-based Detectors for 3D LiDAR Point Clouds. CVPR 2022.
145 EBM3DOD code 80.12 % 91.05 % 72.78 % 0.12 s 1 core @ 2.5 Ghz (Python)
F. Gustafsson, M. Danelljan and T. Schön: Accurate 3D Object Detection using Energy- Based Models. arXiv preprint arXiv:2012.04634 2020.
146 GS-FPS-LT 80.07 % 88.62 % 74.98 % TBD s 1 core @ 2.5 Ghz (C/C++)
147 KPSCC code 80.06 % 88.75 % 74.84 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
148 3D-CVF at SPA
This method makes use of Velodyne laser scans.
 code 80.05 % 89.20 % 73.11 % 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.
149 STNet 80.01 % 87.02 % 75.76 % 0.60 s 1 core @ 2.5 Ghz (Python)
150 DTSSD 79.94 % 88.62 % 74.91 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
151 SIF 79.88 % 86.84 % 75.89 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
P. An: SIF. Submitted to CVIU 2021.
152 DTSSD 79.85 % 88.15 % 74.81 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
153 DCGNN 79.80 % 89.65 % 74.52 % 0.1 s GPU @ 2.5 Ghz (Python + C/C++)
154 RangeIoUDet
This method makes use of Velodyne laser scans.
 79.80 % 88.60 % 76.76 % 0.02 s GPU @ 2.5 Ghz (Python + C/C++)
Z. Liang, Z. Zhang, M. Zhang, X. Zhao and S. Pu: RangeIoUDet: Range Image Based Real-Time 3D Object Detector Optimized by Intersection Over Union. CVPR 2021.
155 SA-SSD code 79.79 % 88.75 % 74.16 % 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.
156 STD code 79.71 % 87.95 % 75.09 % 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.
157 ACCF 79.69 % 87.69 % 74.75 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
158 MGAF-3DSSD code 79.68 % 88.16 % 72.39 % 0.1 s 1 core @ 2.5 Ghz (Python)
J. Li, H. Dai, L. Shao and Y. Ding: Anchor-free 3D Single Stage Detector with Mask-Guided Attention for Point Cloud. MM '21: The 29th ACM International Conference on Multimedia (ACM MM) 2021.
159 mbdf-netv1 code 79.66 % 90.19 % 74.76 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
160 B2PE 79.66 % 87.86 % 74.54 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
161 U_PVRCNN_V2 79.65 % 86.36 % 75.35 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
162 TADP 79.65 % 88.93 % 74.17 % 0.04 s GPU @ 2.5 Ghz (Python)
163 R^2 R-CNN 79.65 % 87.92 % 75.12 % 0.1 s 1 core @ 2.5 Ghz (Python)
164 PTA-RCNN 79.61 % 87.84 % 74.43 % 0.08 s 1 core @ 2.5 Ghz (Python)
165 TBD code 79.59 % 88.39 % 74.22 % 0.1 s GPU @ 2.5 Ghz (Python)
166 Struc info fusion II 79.59 % 88.97 % 72.51 % 0.05 s GPU @ 2.5 Ghz (Python)
P. An, J. Liang, J. Ma, K. Yu and B. Fang: Struc info fusion. Submitted to CVIU 2021.
167 3DSSD code 79.57 % 88.36 % 74.55 % 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.
168 EBM3DOD baseline code 79.52 % 88.80 % 72.30 % 0.05 s 1 core @ 2.5 Ghz (Python)
F. Gustafsson, M. Danelljan and T. Schön: Accurate 3D Object Detection using Energy- Based Models. arXiv preprint arXiv:2012.04634 2020.
169 Struc info fusion I 79.49 % 88.70 % 74.25 % 0.05 s 1 core @ 2.5 Ghz (Python)
P. An, J. Liang, J. Ma, K. Yu and B. Fang: Struc info fusion. Submitted to CVIU 2021.
170 Point-GNN_GT code 79.47 % 88.33 % 72.30 % 5 s 1 core @ 2.5 Ghz (C/C++)
ERROR: Wrong syntax in BIBTEX file.
171 Point-GNN
This method makes use of Velodyne laser scans.
 code 79.47 % 88.33 % 72.29 % 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.
172 BASA 79.43 % 87.91 % 74.29 % 1s 1 core @ 2.5 Ghz (python)
173 DCAN-Second code 79.40 % 88.57 % 75.05 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
174 SSL-PointGNN code 79.36 % 87.78 % 74.15 % 0.56 s GPU @ 1.5 Ghz (Python)
E. Erçelik, E. Yurtsever, M. Liu, Z. Yang, H. Zhang, P. Topçam, M. Listl, Y. Çaylı and A. Knoll: 3D Object Detection with a Self-supervised Lidar Scene Flow Backbone. arXiv preprint arXiv:2205.00705 2022.
175 CZY_PPF_Net 79.35 % 88.39 % 76.14 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
176 EPNet code 79.28 % 89.81 % 74.59 % 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.
177 VPNet 79.28 % 87.66 % 76.40 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
178 PEF code 79.26 % 88.33 % 74.51 % N/A s 1 core @ 2.5 Ghz (C/C++)
179 WGVRF 79.25 % 88.47 % 74.60 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
180 DVFENet 79.18 % 86.20 % 74.58 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
Y. He, G. Xia, Y. Luo, L. Su, Z. Zhang, W. Li and P. Wang: DVFENet: Dual-branch Voxel Feature Extraction Network for 3D Object Detection. Neurocomputing 2021.
181 PSA-SSD 79.12 % 87.35 % 74.25 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
182 ITCA-SSD code 79.11 % 88.66 % 72.12 % 0.05 s 1 core @ 2.5 Ghz (Python)
183 Faraway-Frustum
This method makes use of Velodyne laser scans.
 code 79.05 % 87.45 % 76.14 % 0.1 s GPU @ 2.5 Ghz (Python)
H. Zhang, D. Yang, E. Yurtsever, K. Redmill and U. Ozguner: Faraway-frustum: Dealing with lidar sparsity for 3D object detection using fusion. 2021 IEEE International Intelligent Transportation Systems Conference (ITSC) 2021.
184 GD-MAE 79.03 % 88.14 % 73.55 % 0.07 s 1 core @ 2.5 Ghz (Python + C/C++)
H. Yang, T. He, J. Liu, H. Chen, B. Wu, B. Lin, X. He and W. Ouyang: GD-MAE: Generative Decoder for MAE Pre- training on LiDAR Point Clouds. CVPR 2023.
185 3D IoU-Net 79.03 % 87.96 % 72.78 % 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.
186 SERCNN
This method makes use of Velodyne laser scans.
 78.96 % 87.74 % 74.30 % 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.
187 MVMM code 78.87 % 87.59 % 73.78 % 0.04 s GPU @ 2.5 Ghz (Python + C/C++)
188 ACDet code 78.85 % 88.47 % 73.86 % 0.05 s 1 core @ 2.5 Ghz (C/C++)
J. Xu, G. Wang, X. Zhang and G. Wan: ACDet: Attentive Cross-view Fusion for LiDAR-based 3D Object Detection. 3DV 2022.
189 PSA-Det3D 78.80 % 87.46 % 74.47 % 0.1 s GPU @ 2.5 Ghz (Python)
190 CSNet8306 code 78.74 % 89.57 % 72.09 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
191 MVAF-Net code 78.71 % 87.87 % 75.48 % 0.06 s 1 core @ 2.5 Ghz (Python + C/C++)
G. Wang, B. Tian, Y. Zhang, L. Chen, D. Cao and J. Wu: Multi-View Adaptive Fusion Network for 3D Object Detection. arXiv preprint arXiv:2011.00652 2020.
192 VPNetv2 78.70 % 87.36 % 74.10 % 0.1 s 1 core @ 2.5 Ghz (Python)
193 FSFNet 78.67 % 89.69 % 72.01 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
194 IA-SSDx 78.54 % 86.56 % 73.59 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
195 MMLab-PartA^2
This method makes use of Velodyne laser scans.
 code 78.49 % 87.81 % 73.51 % 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.
196 CLOCs_SecCas 78.45 % 86.38 % 72.45 % 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.
197 Patches - EMP
This method makes use of Velodyne laser scans.
 78.41 % 89.84 % 73.15 % 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.
198 RealSynthesis-SECOND 78.38 % 86.78 % 74.67 % 0.05 s 1 core @ 2.5 Ghz (Python)
199 CZY 78.36 % 87.00 % 73.84 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
200 HotSpotNet 78.31 % 87.60 % 73.34 % 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.
201 Sem-Aug-PointRCNN++ 78.06 % 86.69 % 73.85 % 0.1 s 8 cores @ 3.0 Ghz (Python)
L. Zhao, M. Wang and Y. Yue: Sem-Aug: Improving Camera-LiDAR Feature Fusion With Semantic Augmentation for 3D Vehicle Detection. IEEE Robotics and Automation Letters 2022.
202 CenterNet3D 77.90 % 86.20 % 73.03 % 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.
203 U_SECOND_V4 77.87 % 86.69 % 73.03 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
204 UberATG-MMF
This method makes use of Velodyne laser scans.
 77.43 % 88.40 % 70.22 % 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.
205 Associate-3Ddet code 77.40 % 85.99 % 70.53 % 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.
206 Fast Point R-CNN
This method makes use of Velodyne laser scans.
 77.40 % 85.29 % 70.24 % 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.
207 RangeDet (Official) code 77.36 % 85.41 % 72.60 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
L. Fan, X. Xiong, F. Wang, N. Wang and Z. Zhang: RangeDet: In Defense of Range View for LiDAR-Based 3D Object Detection. Proceedings of the IEEE/CVF International Conference on Computer Vision (ICCV) 2021.
208 Patches
This method makes use of Velodyne laser scans.
 77.20 % 88.67 % 71.82 % 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.
209 HRI-VoxelFPN 76.70 % 85.64 % 69.44 % 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.
210 SARPNET 76.64 % 85.63 % 71.31 % 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.
211 SECOND_7862 76.60 % 85.29 % 71.77 % 1 s 1 core @ 2.5 Ghz (Python)
212 Anonymous 76.60 % 85.29 % 71.77 % 1 1 core @ 2.5 Ghz (Python)
213 DTFI 76.59 % 85.29 % 71.78 % 0.03 s 1 core @ 2.5 Ghz (Python)
214 CSNet8299 code 76.55 % 86.49 % 71.37 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
215 OA-TSSD 76.50 % 83.34 % 73.42 % 20 s 8 cores @ 2.5 Ghz (C/C++)
216 3D IoU Loss
This method makes use of Velodyne laser scans.
 76.50 % 86.16 % 71.39 % 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.
217 F-ConvNet
This method makes use of Velodyne laser scans.
 code 76.39 % 87.36 % 66.69 % 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.
218 variance_point 76.27 % 87.44 % 72.03 % 0.05 s 1 core @ 2.5 Ghz (Python)
219 SegVoxelNet 76.13 % 86.04 % 70.76 % 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.
220 S-AT GCN 76.04 % 83.20 % 71.17 % 0.02 s GPU @ 2.0 Ghz (Python)
L. Wang, C. Wang, X. Zhang, T. Lan and J. Li: S-AT GCN: Spatial-Attention Graph Convolution Network based Feature Enhancement for 3D Object Detection. CoRR 2021.
221 KPP3D code 76.00 % 86.66 % 71.07 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
222 TANet code 75.94 % 84.39 % 68.82 % 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.
223 PointRGCN 75.73 % 85.97 % 70.60 % 0.26 s GPU @ V100 (Python)
J. Zarzar, S. Giancola and B. Ghanem: PointRGCN: Graph Convolution Networks for 3D Vehicles Detection Refinement. ArXiv 2019.
224 HybridPillars (SSD) 75.72 % 86.22 % 70.48 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
225 MMLab-PointRCNN
This method makes use of Velodyne laser scans.
 code 75.64 % 86.96 % 70.70 % 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.
226 AB3DMOT
This method makes use of Velodyne laser scans.
This is an online method (no batch processing).
 code 75.43 % 86.10 % 68.88 % 0.0047s 1 core @ 2.5 Ghz (Python)
X. Weng and K. Kitani: A Baseline for 3D Multi-Object Tracking. arXiv:1907.03961 2019.
227 R-GCN 75.26 % 83.42 % 68.73 % 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.
228 CAT 75.22 % 84.84 % 70.05 % 1 s 1 core @ 2.5 Ghz (Python)
229 epBRM
This method makes use of Velodyne laser scans.
 code 75.15 % 85.00 % 69.84 % 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.
230 MAFF-Net(DAF-Pillar) 75.04 % 85.52 % 67.61 % 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.
231 T_PVRCNN 74.93 % 84.79 % 69.95 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
232 T_PVRCNN_V2 74.90 % 84.74 % 69.60 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
233 PI-RCNN 74.82 % 84.37 % 70.03 % 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.
234 PointPillars
This method makes use of Velodyne laser scans.
 code 74.31 % 82.58 % 68.99 % 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.
235 ARPNET 74.04 % 84.69 % 68.64 % 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.
236 Harmonic PointPillar code 73.96 % 82.26 % 69.21 % 0.01 s 1 core @ 2.5 Ghz (Python)
H. Zhang, M. Mekala, Z. Nain, D. Yang, J. Park and H. Jung: 3D Harmonic Loss: Towards Task-consistent and Time-friendly 3D Object Detection for V2X Orchestration. will submit to IEEE Transactions on Vehicular Technology 2022.
237 PC-CNN-V2
This method makes use of Velodyne laser scans.
 73.79 % 85.57 % 65.65 % 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.
238 ZMMPP 73.78 % 82.48 % 68.80 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
239 C-GCN 73.62 % 83.49 % 67.01 % 0.147 s GPU @ V100 (Python)
J. Zarzar, S. Giancola and B. Ghanem: PointRGCN: Graph Convolution Networks for 3D Vehicles Detection Refinement. ArXiv 2019.
240 3DBN
This method makes use of Velodyne laser scans.
 73.53 % 83.77 % 66.23 % 0.13s 1080Ti (Python+C/C++)
X. Li, J. Guivant, N. Kwok and Y. Xu: 3D Backbone Network for 3D Object Detection. CoRR 2019.
241 PointRGBNet 73.49 % 83.99 % 68.56 % 0.08 s 4 cores @ 2.5 Ghz (Python + C/C++)
P. Xie Desheng: Real-time Detection of 3D Objects Based on Multi-Sensor Information Fusion. Automotive Engineering 2022.
242 SCNet
This method makes use of Velodyne laser scans.
 73.17 % 83.34 % 67.93 % 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.
243 AFTD 73.12 % 82.71 % 68.09 % 1 s 1 core @ 2.5 Ghz (Python + C/C++)
244 Anonymous Submission 73.08 % 84.30 % 68.03 % 1 s 1 core @ 2.5 Ghz (Python)
245 CAD
This method uses stereo information.
This method makes use of Velodyne laser scans.
 73.04 % 81.48 % 66.63 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
246 PFF3D
This method makes use of Velodyne laser scans.
 code 72.93 % 81.11 % 67.24 % 0.05 s GPU @ 3.0 Ghz (Python + C/C++)
L. Wen and K. Jo: Fast and Accurate 3D Object Detection for Lidar-Camera-Based Autonomous Vehicles Using One Shared Voxel-Based Backbone. IEEE Access 2021.
247 Voxel-MAE+SECOND code 72.87 % 80.11 % 69.43 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
248 DASS 72.31 % 81.85 % 65.99 % 0.09 s 1 core @ 2.0 Ghz (Python)
O. Unal, L. Van Gool and D. Dai: Improving Point Cloud Semantic Segmentation by Learning 3D Object Detection. Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision (WACV) 2021.
249 SSL_PP code 72.02 % 83.74 % 64.95 % 16ms GPU @ 1.5 Ghz (Python)
250 AVOD-FPN
This method makes use of Velodyne laser scans.
 code 71.76 % 83.07 % 65.73 % 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.
251 PointPainting
This method makes use of Velodyne laser scans.
 71.70 % 82.11 % 67.08 % 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.
252 WS3D
This method makes use of Velodyne laser scans.
 70.59 % 80.99 % 64.23 % 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.
253 F-PointNet
This method makes use of Velodyne laser scans.
 code 69.79 % 82.19 % 60.59 % 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.
254 EOTL code 69.13 % 79.97 % 58.57 % TBD s 1 core @ 2.5 Ghz (Python + C/C++)
255 UberATG-ContFuse
This method makes use of Velodyne laser scans.
 68.78 % 83.68 % 61.67 % 0.06 s GPU @ 2.5 Ghz (Python)
M. Liang, B. Yang, S. Wang and R. Urtasun: Deep Continuous Fusion for Multi-Sensor 3D Object Detection. ECCV 2018.
256 MLOD
This method makes use of Velodyne laser scans.
 code 67.76 % 77.24 % 62.05 % 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.
257 DSGN++
This method uses stereo information.
 code 67.37 % 83.21 % 59.91 % 0.2 s GeForce RTX 2080Ti
Y. Chen, S. Huang, S. Liu, B. Yu and J. Jia: DSGN++: Exploiting Visual-Spatial Relation for Stereo-Based 3D Detectors. IEEE Transactions on Pattern Analysis and Machine Intelligence 2022.
258 DMF
This method uses stereo information.
 67.33 % 77.55 % 62.44 % 0.2 s 1 core @ 2.5 Ghz (Python + C/C++)
X. J. Chen and W. Xu: Disparity-Based Multiscale Fusion Network for Transportation Detection. IEEE Transactions on Intelligent Transportation Systems 2022.
259 AVOD
This method makes use of Velodyne laser scans.
 code 66.47 % 76.39 % 60.23 % 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.
260 StereoDistill 66.39 % 81.66 % 57.39 % 0.4 s 1 core @ 2.5 Ghz (Python)
Z. Liu, X. Ye, X. Tan, D. Errui, Y. Zhou and X. Bai: StereoDistill: Pick the Cream from LiDAR for Distilling Stereo-based 3D Object Detection. Proceedings of the AAAI Conference on Artificial Intelligence 2023.
261 MMLAB LIGA-Stereo
This method uses stereo information.
 code 64.66 % 81.39 % 57.22 % 0.4 s 1 core @ 2.5 Ghz (Python + C/C++)
X. Guo, S. Shi, X. Wang and H. Li: LIGA-Stereo: Learning LiDAR Geometry Aware Representations for Stereo-based 3D Detector. Proceedings of the IEEE/CVF International Conference on Computer Vision (ICCV) 2021.
262 BirdNet+
This method makes use of Velodyne laser scans.
 code 64.04 % 76.15 % 59.79 % 0.11 s Titan Xp (PyTorch)
A. Barrera, J. Beltrán, C. Guindel, J. Iglesias and F. García: BirdNet+: Two-Stage 3D Object Detection in LiDAR through a Sparsity-Invariant Bird’s Eye View. IEEE Access 2021.
263 CZY 63.68 % 77.56 % 57.82 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
264 MV3D
This method makes use of Velodyne laser scans.
 63.63 % 74.97 % 54.00 % 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.
265 SNVC
This method uses stereo information.
 code 61.34 % 78.54 % 54.23 % 1 s GPU @ 1.0 Ghz (Python)
S. Li, Z. Liu, Z. Shen and K. Cheng: Stereo Neural Vernier Caliper. Proceedings of the AAAI Conference on Artificial Intelligence 2022.
266 RCD 60.56 % 70.54 % 55.58 % 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.
267 A3DODWTDA
This method makes use of Velodyne laser scans.
 code 56.82 % 62.84 % 48.12 % 0.08 s GPU @ 3.0 Ghz (Python)
F. Gustafsson and E. Linder-Norén: Automotive 3D Object Detection Without Target Domain Annotations. 2018.
268 FD 56.40 % 73.05 % 52.25 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
269 Pseudo-Stereo++ 55.28 % 74.80 % 46.70 % 0.4 s 1 core @ 2.5 Ghz (Python + C/C++)
270 PL++ (SDN+GDC)
This method uses stereo information.
This method makes use of Velodyne laser scans.
 code 54.88 % 68.38 % 49.16 % 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.
271 PS++ 54.58 % 74.64 % 46.24 % 0.4 s 1 core @ 2.5 Ghz (C/C++)
272 MV3D (LIDAR)
This method makes use of Velodyne laser scans.
 54.54 % 68.35 % 49.16 % 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.
273 CDN
This method uses stereo information.
 code 54.22 % 74.52 % 46.36 % 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.
274 CG-Stereo
This method uses stereo information.
 53.58 % 74.39 % 46.50 % 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.
275 DSGN
This method uses stereo information.
 code 52.18 % 73.50 % 45.14 % 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.
276 BirdNet+ (legacy)
This method makes use of Velodyne laser scans.
 code 51.85 % 70.14 % 50.03 % 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. 2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC) 2020.
277 Complexer-YOLO
This method makes use of Velodyne laser scans.
 47.34 % 55.93 % 42.60 % 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.
278 ESGN
This method uses stereo information.
 46.39 % 65.80 % 38.42 % 0.06 s GPU @ 2.5 Ghz (Python + C/C++)
A. Gao, Y. Pang, J. Nie, Z. Shao, J. Cao, Y. Guo and X. Li: ESGN: Efficient Stereo Geometry Network for Fast 3D Object Detection. IEEE Transactions on Circuits and Systems for Video Technology 2022.
279 Disp R-CNN (velo)
This method uses stereo information.
 code 45.78 % 68.21 % 37.73 % 0.387 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.
280 CDN-PL++
This method uses stereo information.
 44.86 % 64.31 % 38.11 % 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. Advances in Neural Information Processing Systems 2020.
281 Disp R-CNN
This method uses stereo information.
 code 43.27 % 67.02 % 36.43 % 0.387 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.
282 DSC3D
This method uses stereo information.
 42.54 % 66.46 % 34.04 % 0.31 s GPU @ 2.5 Ghz (Python)
283 Pseudo-LiDAR++
This method uses stereo information.
 code 42.43 % 61.11 % 36.99 % 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 YOLOStereo3D
This method uses stereo information.
 code 41.25 % 65.68 % 30.42 % 0.1 s GPU 1080Ti
Y. Liu, L. Wang and M. Liu: YOLOStereo3D: A Step Back to 2D for Efficient Stereo 3D Detection. 2021 International Conference on Robotics and Automation (ICRA) 2021.
285 RT3D-GMP
This method uses stereo information.
 38.76 % 45.79 % 30.00 % 0.06 s GPU @ 2.5 Ghz (Python + C/C++)
H. Königshof and C. Stiller: Learning-Based Shape Estimation with Grid Map Patches for Realtime 3D Object Detection for Automated Driving. 2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC) 2020.
286 ZoomNet
This method uses stereo information.
 code 38.64 % 55.98 % 30.97 % 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.
287 OC Stereo
This method uses stereo information.
 code 37.60 % 55.15 % 30.25 % 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.
288 Pseudo-Lidar
This method uses stereo information.
 code 34.05 % 54.53 % 28.25 % 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.
289 Stereo CenterNet
This method uses stereo information.
 31.30 % 49.94 % 25.62 % 0.04 s GPU @ 2.5 Ghz (Python)
Y. Shi, Y. Guo, Z. Mi and X. Li: Stereo CenterNet-based 3D object detection for autonomous driving. Neurocomputing 2022.
290 Stereo R-CNN
This method uses stereo information.
 code 30.23 % 47.58 % 23.72 % 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.
291 SparseLiDAR_fusion 28.93 % 38.06 % 24.14 % 0.08 s 1 core @ 2.5 Ghz (C/C++)
292 BirdNet
This method makes use of Velodyne laser scans.
 27.26 % 40.99 % 25.32 % 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.
293 CIE + DM3D 25.02 % 35.96 % 21.47 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
Ananimities: Consistency of Implicit and Explicit Features Matters for Monocular 3D Object Detection. arXiv preprint arXiv:2207.07933 2022.
294 Anonymous 23.79 % 33.89 % 20.33 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
295 RT3DStereo
This method uses stereo information.
 23.28 % 29.90 % 18.96 % 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.
296 CIE 20.95 % 31.55 % 17.83 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
Anonymities: Consistency of Implicit and Explicit Features Matters for Monocular 3D Object Detection. arXiv preprint arXiv:2207.07933 2022.
297 Anonymous 19.65 % 29.84 % 16.41 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
298 AMNet 19.26 % 26.26 % 17.05 % 0.03 s GPU @ 1.0 Ghz (Python)
299 MonoLSS 19.15 % 26.11 % 16.94 % 0.04 s 1 core @ 2.5 Ghz (Python)
300 RT3D
This method makes use of Velodyne laser scans.
 19.14 % 23.74 % 18.86 % 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.
301 MonoXiver 19.04 % 25.24 % 16.39 % 0.03s GPU @ 2.5 Ghz (Python)
302 NeurOCS 18.94 % 29.89 % 15.90 % 0.1 s GPU @ 2.5 Ghz (Python)
303 BSM3D 18.87 % 25.66 % 16.50 % 0.03 s 1 core @ 2.5 Ghz (Python)
304 MonoLiG 18.86 % 24.90 % 16.79 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
305 CMKD code 18.69 % 28.55 % 16.77 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
Y. Hong, H. Dai and Y. Ding: Cross-Modality Knowledge Distillation Network for Monocular 3D Object Detection. ECCV 2022.
306 Mix-Teaching code 18.54 % 26.89 % 15.79 % 30 s 1 core @ 2.5 Ghz (C/C++)
L. Yang, X. Zhang, L. Wang, M. Zhu, C. Zhang and J. Li: Mix-Teaching: A Simple, Unified and Effective Semi-Supervised Learning Framework for Monocular 3D Object Detection. ArXiv 2022.
307 out_dated 18.46 % 28.68 % 15.63 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
308 StereoFENet
This method uses stereo information.
 18.41 % 29.14 % 14.20 % 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.
309 MDS-Mono3D 18.20 % 28.47 % 14.95 % 0.12 s 1 core @ 2.5 Ghz (C/C++)
310 BAIR 18.03 % 25.76 % 15.34 % 0.04 s 1 core @ 2.5 Ghz (Python)
311 MoGDE 17.88 % 27.07 % 15.66 % 0.03 s GPU @ 2.5 Ghz (Python)
312 LPCG-Monoflex code 17.80 % 25.56 % 15.38 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
L. Peng, F. Liu, Z. Yu, S. Yan, D. Deng, Z. Yang, H. Liu and D. Cai: Lidar Point Cloud Guided Monocular 3D Object Detection. ECCV 2022.
313 PS-fld code 17.74 % 23.74 % 15.14 % 0.25 s 1 core @ 2.5 Ghz (C/C++)
Y. Chen, H. Dai and Y. Ding: Pseudo-Stereo for Monocular 3D Object Detection in Autonomous Driving. Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2022.
314 DD3Dv2 code 17.61 % 26.36 % 15.32 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
315 MonoA^2(new) 17.55 % 23.24 % 15.26 % na s 1 core @ 2.5 Ghz (C/C++)
316 MonoATT_V2 code 17.44 % 23.84 % 16.33 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
317 MonoATT code 17.37 % 24.72 % 15.00 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
318 MonoAD 17.28 % 25.35 % 14.58 % 0.03 s GPU @ 2.5 Ghz (Python)
319 Anonymous 17.18 % 25.51 % 14.56 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
320 MonoDDE 17.14 % 24.93 % 15.10 % 0.04 s 1 core @ 2.5 Ghz (Python)
Z. Li, Z. Qu, Y. Zhou, J. Liu, H. Wang and L. Jiang: Diversity Matters: Fully Exploiting Depth Clues for Reliable Monocular 3D Object Detection. CVPR 2022.
321 MonoNeRD 17.13 % 22.75 % 15.63 % na s 1 core @ 2.5 Ghz (C/C++)
322 MonoA^2 17.07 % 23.71 % 15.36 % na s 1 core @ 2.5 Ghz (C/C++)
323 OPA-3D code 17.05 % 24.60 % 14.25 % 0.04 s 1 core @ 3.5 Ghz (Python)
Y. Su, Y. Di, G. Zhai, F. Manhardt, J. Rambach, B. Busam, D. Stricker and F. Tombari: OPA-3D: Occlusion-Aware Pixel-Wise Aggregation for Monocular 3D Object Detection. IEEE Robotics and Automation Letters 2023.
324 TempM3D 17.05 % 25.29 % 14.86 % 0.07 s 1 core @ 2.5 Ghz (Python)
325 Mobile Stereo R-CNN
This method uses stereo information.
 17.04 % 26.97 % 13.26 % 1.8 s NVIDIA Jetson TX2
M. Hussein, M. Khalil and B. Abdullah: 3D Object Detection using Mobile Stereo R- CNN on Nvidia Jetson TX2. International Conference on Advanced Engineering, Technology and Applications (ICAETA) 2021.
326 OccupancyM3D 17.02 % 25.55 % 14.79 % 0.11 s 1 core @ 2.5 Ghz (C/C++)
327 SHUD 16.97 % 26.93 % 14.82 % 0.04 s 1 core @ 2.5 Ghz (Python)
328 DD3D code 16.87 % 23.19 % 14.36 % n/a s 1 core @ 2.5 Ghz (C/C++)
D. Park, R. Ambrus, V. Guizilini, J. Li and A. Gaidon: Is Pseudo-Lidar needed for Monocular 3D Object detection?. IEEE/CVF International Conference on Computer Vision (ICCV) .
329 ADD code 16.81 % 25.61 % 13.79 % 0.1 s 1 core @ 2.5 Ghz (Python)
Z. Wu, Y. Wu, J. Pu, X. Li and X. Wang: Attention-based Depth Distillation with 3D-Aware Positional Encoding for Monocular 3D Object Detection. AAAI2023 .
330 UNM3D 16.80 % 24.54 % 14.64 % na s 1 core @ 2.5 Ghz (C/C++)
331 Shape-Aware 16.52 % 23.84 % 13.88 % 0.05 s 1 core @ 2.5 Ghz (Python)
332 SAD 16.41 % 26.05 % 13.60 % 0.05 s 1 core @ 2.5 Ghz (python)
333 DID-M3D code 16.29 % 24.40 % 13.75 % 0.04 s 1 core @ 2.5 Ghz (Python)
L. Peng, X. Wu, Z. Yang, H. Liu and D. Cai: DID-M3D: Decoupling Instance Depth for Monocular 3D Object Detection. ECCV 2022.
334 MonoDETR code 16.26 % 24.52 % 13.93 % 0.04 s 1 core @ 2.5 Ghz (Python)
R. Zhang, H. Qiu, T. Wang, X. Xu, Z. Guo, Y. Qiao, P. Gao and H. Li: MonoDETR: Depth-aware Transformer for Monocular 3D Object Detection. arXiv preprint arXiv:2203.13310 2022.
335 MonoPPM code 16.21 % 22.43 % 13.73 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
336 SAD 16.14 % 25.55 % 13.29 % 0.05 s 1 core @ 2.5 Ghz (python)
337 DCD code 15.90 % 23.81 % 13.21 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
Y. Li, Y. Chen, J. He and Z. Zhang: Densely Constrained Depth Estimator for Monocular 3D Object Detection. European Conference on Computer Vision 2022.
338 Anonymous 15.67 % 22.34 % 12.92 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
339 MM3DV2 15.66 % 23.18 % 14.08 % NA s 1 core @ 2.5 Ghz (C/C++)
340 3DSeMoDLE code 15.58 % 23.11 % 13.58 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
341 MonoInsight 15.45 % 21.45 % 13.21 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
342 MonoDTR 15.39 % 21.99 % 12.73 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
K. Huang, T. Wu, H. Su and W. Hsu: MonoDTR: Monocular 3D Object Detection with Depth-Aware Transformer. CVPR 2022.
343 Mono3DMethod 15.25 % 23.55 % 13.24 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
344 MM3D 15.23 % 23.39 % 12.87 % NA s 1 core @ 2.5 Ghz (C/C++)
345 GUPNet code 15.02 % 22.26 % 13.12 % NA s 1 core @ 2.5 Ghz (Python + C/C++)
Y. Lu, X. Ma, L. Yang, T. Zhang, Y. Liu, Q. Chu, J. Yan and W. Ouyang: Geometry Uncertainty Projection Network for Monocular 3D Object Detection. arXiv preprint arXiv:2107.13774 2021.
346 HomoLoss(monoflex) code 14.94 % 21.75 % 13.07 % 0.04 s 1 core @ 2.5 Ghz (Python)
J. Gu, B. Wu, L. Fan, J. Huang, S. Cao, Z. Xiang and X. Hua: Homography Loss for Monocular 3D Object Detection. Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2022.
347 DD3D-dequity 14.76 % 21.71 % 12.92 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
348 SGM3D code 14.65 % 22.46 % 12.97 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
Z. Zhou, L. Du, X. Ye, Z. Zou, X. Tan, L. Zhang, X. Xue and J. Feng: SGM3D: Stereo Guided Monocular 3D Object Detection. RA-L 2022.
349 BCA 14.54 % 21.82 % 11.99 % 0.17 s GPU @ 2.5 Ghz (Python)
350 MDSNet 14.46 % 24.30 % 11.12 % 0.05 s 1 core @ 2.5 Ghz (Python)
Z. Xie, Y. Song, J. Wu, Z. Li, C. Song and Z. Xu: MDS-Net: Multi-Scale Depth Stratification 3D Object Detection from Monocular Images. Sensors 2022.
351 DEVIANT code 14.46 % 21.88 % 11.89 % 0.04 s 1 GPU (Python)
A. Kumar, G. Brazil, E. Corona, A. Parchami and X. Liu: DEVIANT: Depth EquiVarIAnt NeTwork for Monocular 3D Object Detection. European Conference on Computer Vision (ECCV) 2022.
352 DLE code 14.33 % 24.23 % 10.30 % 0.06 s NVIDIA Tesla V100
C. Liu, S. Gu, L. Gool and R. Timofte: Deep Line Encoding for Monocular 3D Object Detection and Depth Prediction. Proceedings of the British Machine Vision Conference (BMVC) 2021.
353 AutoShape code 14.17 % 22.47 % 11.36 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
Z. Liu, D. Zhou, F. Lu, J. Fang and L. Zhang: AutoShape: Real-Time Shape-Aware Monocular 3D Object Detection. Proceedings of the IEEE/CVF International Conference on Computer Vision 2021.
354 MonoFlex 13.89 % 19.94 % 12.07 % 0.03 s GPU @ 2.5 Ghz (Python)
Y. Zhang, J. Lu and J. Zhou: Objects are Different: Flexible Monocular 3D Object Detection. CVPR 2021.
355 MonoEF 13.87 % 21.29 % 11.71 % 0.03 s 1 core @ 2.5 Ghz (Python)
Y. Zhou, Y. He, H. Zhu, C. Wang, H. Li and Q. Jiang: Monocular 3D Object Detection: An Extrinsic Parameter Free Approach. Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2021.
356 MonoAug 13.85 % 20.06 % 11.43 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
357 DEPT 13.83 % 20.43 % 11.66 % 0.03 s 1 core @ 2.5 Ghz (Python)
358 MonoPCNS 13.74 % 20.31 % 12.31 % 0.14 s GPU @ 2.5 Ghz (Python)
359 MonoRCNN++ code 13.72 % 20.08 % 11.34 % 0.07 s GPU @ 2.5 Ghz (Python)
X. Shi, Z. Chen and T. Kim: Multivariate Probabilistic Monocular 3D Object Detection. WACV 2023.
360 DFR-Net 13.63 % 19.40 % 10.35 % 0.18 s 1080 Ti (Pytorch)
Z. Zou, X. Ye, L. Du, X. Cheng, X. Tan, L. Zhang, J. Feng, X. Xue and E. Ding: The devil is in the task: Exploiting reciprocal appearance-localization features for monocular 3d object detection . ICCV 2021.
361 CaDDN code 13.41 % 19.17 % 11.46 % 0.63 s GPU @ 2.5 Ghz (Python)
C. Reading, A. Harakeh, J. Chae and S. Waslander: Categorical Depth Distribution Network for Monocular 3D Object Detection. CVPR 2021.
362 PCT code 13.37 % 21.00 % 11.31 % 0.045 s 1 core @ 2.5 Ghz (C/C++)
L. Wang, L. Zhang, Y. Zhu, Z. Zhang, T. He, M. Li and X. Xue: Progressive Coordinate Transforms for Monocular 3D Object Detection. NeurIPS 2021.
363 Ground-Aware code 13.25 % 21.65 % 9.91 % 0.05 s 1 core @ 2.5 Ghz (C/C++)
Y. Liu, Y. Yuan and M. Liu: Ground-aware Monocular 3D Object Detection for Autonomous Driving. IEEE Robotics and Automation Letters 2021.
364 FMF-occlusion-net 13.12 % 20.28 % 9.56 % 0.16 s 1 core @ 2.5 Ghz (Python + C/C++)
H. Liu, H. Liu, Y. Wang, F. Sun and W. Huang: Fine-grained Multi-level Fusion for Anti- occlusion Monocular 3D Object Detection. IEEE Transactions on Image Processing 2022.
365 Aug3D-RPN 12.99 % 17.82 % 9.78 % 0.08 s 1 core @ 2.5 Ghz (C/C++)
C. He, J. Huang, X. Hua and L. Zhang: Aug3D-RPN: Improving Monocular 3D Object Detection by Synthetic Images with Virtual Depth. 2021.
366 HomoLoss(imvoxelnet) code 12.99 % 20.10 % 10.50 % 0.20 s 1 core @ 2.5 Ghz (Python)
J. Gu, B. Wu, L. Fan, J. Huang, S. Cao, Z. Xiang and X. Hua: Homogrpahy Loss for Monocular 3D Object Detection. Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2022.
367 DDMP-3D 12.78 % 19.71 % 9.80 % 0.18 s 1 core @ 2.5 Ghz (Python)
L. Wang, L. Du, X. Ye, Y. Fu, G. Guo, X. Xue, J. Feng and L. Zhang: Depth-conditioned Dynamic Message Propagation for Monocular 3D Object Detection. CVPR 2020.
368 Kinematic3D code 12.72 % 19.07 % 9.17 % 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 .
369 M3DGAF 12.66 % 19.48 % 10.99 % 0.07 s 1 core @ 2.5 Ghz (Python)
370 MonoRCNN code 12.65 % 18.36 % 10.03 % 0.07 s GPU @ 2.5 Ghz (Python)
X. Shi, Q. Ye, X. Chen, C. Chen, Z. Chen and T. Kim: Geometry-based Distance Decomposition for Monocular 3D Object Detection. ICCV 2021.
371 GrooMeD-NMS code 12.32 % 18.10 % 9.65 % 0.12 s 1 core @ 2.5 Ghz (Python)
A. Kumar, G. Brazil and X. Liu: GrooMeD-NMS: Grouped Mathematically Differentiable NMS for Monocular 3D Object Detection. CVPR 2021.
372 MonoRUn code 12.30 % 19.65 % 10.58 % 0.07 s GPU @ 2.5 Ghz (Python + C/C++)
H. Chen, Y. Huang, W. Tian, Z. Gao and L. Xiong: MonoRUn: Monocular 3D Object Detection by Reconstruction and Uncertainty Propagation. IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2021.
373 monodle code 12.26 % 17.23 % 10.29 % 0.04 s GPU @ 2.5 Ghz (Python)
X. Ma, Y. Zhang, D. Xu, D. Zhou, S. Yi, H. Li and W. Ouyang: Delving into Localization Errors for Monocular 3D Object Detection. CVPR 2021 .
374 YoloMono3D code 12.06 % 18.28 % 8.42 % 0.05 s GPU @ 2.5 Ghz (Python)
Y. Liu, L. Wang and L. Ming: YOLOStereo3D: A Step Back to 2D for Efficient Stereo 3D Detection. 2021 International Conference on Robotics and Automation (ICRA) 2021.
375 IAFA 12.01 % 17.81 % 10.61 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
D. Zhou, X. Song, Y. Dai, J. Yin, F. Lu, M. Liao, J. Fang and L. Zhang: IAFA: Instance-Aware Feature Aggregation for 3D Object Detection from a Single Image. Proceedings of the Asian Conference on Computer Vision 2020.
376 GAC3D 12.00 % 17.75 % 9.15 % 0.25 s 1 core @ 2.5 Ghz (Python)
M. Bui, D. Ngo, H. Pham and D. Nguyen: GAC3D: improving monocular 3D object detection with ground-guide model and adaptive convolution. 2021.
377 CMAN 11.87 % 17.77 % 9.16 % 0.15 s 1 core @ 2.5 Ghz (Python)
C. Yuanzhouhan Cao: CMAN: Leaning Global Structure Correlation for Monocular 3D Object Detection. IEEE Trans. Intell. Transport. Syst. 2022.
378 PGD-FCOS3D code 11.76 % 19.05 % 9.39 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
T. Wang, X. Zhu, J. Pang and D. Lin: Probabilistic and Geometric Depth: Detecting Objects in Perspective. Conference on Robot Learning (CoRL) 2021.
379 D4LCN code 11.72 % 16.65 % 9.51 % 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.
380 MonoAug 11.47 % 16.40 % 9.26 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
381 KM3D code 11.45 % 16.73 % 9.92 % 0.03 s 1 core @ 2.5 Ghz (Python)
P. Li: Monocular 3D Detection with Geometric Constraints Embedding and Semi-supervised Training. 2020.
382 RefinedMPL 11.14 % 18.09 % 8.94 % 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.
383 PatchNet code 11.12 % 15.68 % 10.17 % 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.
384 MDT code 11.11 % 15.95 % 8.80 % 0.01 s 1 core @ 2.5 Ghz (Python)
385 ImVoxelNet code 10.97 % 17.15 % 9.15 % 0.2 s GPU @ 2.5 Ghz (Python)
D. Rukhovich, A. Vorontsova and A. Konushin: ImVoxelNet: Image to Voxels Projection for Monocular and Multi-View General-Purpose 3D Object Detection. arXiv preprint arXiv:2106.01178 2021.
386 AM3D 10.74 % 16.50 % 9.52 % 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.
387 RTM3D code 10.34 % 14.41 % 8.77 % 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.
388 MonoPair 9.99 % 13.04 % 8.65 % 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.
389 Neighbor-Vote 9.90 % 15.57 % 8.89 % 0.1 s GPU @ 2.5 Ghz (Python)
X. Chu, J. Deng, Y. Li, Z. Yuan, Y. Zhang, J. Ji and Y. Zhang: Neighbor-Vote: Improving Monocular 3D Object Detection through Neighbor Distance Voting. ACM MM 2021.
390 SMOKE code 9.76 % 14.03 % 7.84 % 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.
391 M3D-RPN code 9.71 % 14.76 % 7.42 % 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 .
392 QD-3DT
This is an online method (no batch processing).
 code 9.33 % 12.81 % 7.86 % 0.03 s GPU @ 2.5 Ghz (Python)
H. Hu, Y. Yang, T. Fischer, F. Yu, T. Darrell and M. Sun: Monocular Quasi-Dense 3D Object Tracking. ArXiv:2103.07351 2021.
393 TopNet-HighRes
This method makes use of Velodyne laser scans.
 9.28 % 12.67 % 7.95 % 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.
394 MonoCInIS 7.94 % 15.82 % 6.68 % 0,13 s GPU @ 2.5 Ghz (C/C++)
J. Heylen, M. De Wolf, B. Dawagne, M. Proesmans, L. Van Gool, W. Abbeloos, H. Abdelkawy and D. Reino: MonoCInIS: Camera Independent Monocular 3D Object Detection using Instance Segmentation. Proceedings of the IEEE/CVF International Conference on Computer Vision 2021.
395 Plane-Constraints 7.88 % 11.29 % 6.48 % 0.05 s 4 cores @ 3.0 Ghz (Python)
H. Yao, J. Chen, Z. Wang, X. Wang, X. Chai, Y. Qiu and P. Han: Vertex points are not enough: Monocular 3D object detection via intra-and inter-plane constraints. Neural Networks 2023.
396 SS3D 7.68 % 10.78 % 6.51 % 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.
397 MonoCInIS 7.66 % 15.21 % 6.24 % 0,14 s GPU @ 2.5 Ghz (Python)
J. Heylen, M. De Wolf, B. Dawagne, M. Proesmans, L. Van Gool, W. Abbeloos, H. Abdelkawy and D. Reino: MonoCInIS: Camera Independent Monocular 3D Object Detection using Instance Segmentation. Proceedings of the IEEE/CVF International Conference on Computer Vision 2021.
398 Mono3D_PLiDAR code 7.50 % 10.76 % 6.10 % 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.
399 MonoPSR code 7.25 % 10.76 % 5.85 % 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.
400 Decoupled-3D 7.02 % 11.08 % 5.63 % 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.
401 VoxelJones code 6.35 % 7.39 % 5.80 % .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.
402 MonoGRNet code 5.74 % 9.61 % 4.25 % 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.
403 A3DODWTDA (image) code 5.27 % 6.88 % 4.45 % 0.8 s GPU @ 3.0 Ghz (Python)
F. Gustafsson and E. Linder-Norén: Automotive 3D Object Detection Without Target Domain Annotations. 2018.
404 MonoFENet 5.14 % 8.35 % 4.10 % 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.
405 TLNet (Stereo)
This method uses stereo information.
 code 4.37 % 7.64 % 3.74 % 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.
406 CSoR
This method makes use of Velodyne laser scans.
 4.06 % 5.61 % 3.17 % 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.
407 Shift R-CNN (mono) code 3.87 % 6.88 % 2.83 % 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.
408 MVRA + I-FRCNN+ 3.27 % 5.19 % 2.49 % 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.
409 SparVox3D 3.20 % 5.27 % 2.56 % 0.05 s GPU @ 2.0 Ghz (Python)
E. Balatkan and F. Kıraç: Improving Regression Performance on Monocular 3D Object Detection Using Bin-Mixing and Sparse Voxel Data. 2021 6th International Conference on Computer Science and Engineering (UBMK) 2021.
410 TopNet-UncEst
This method makes use of Velodyne laser scans.
 3.02 % 3.24 % 2.26 % 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.
411 GS3D 2.90 % 4.47 % 2.47 % 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.
412 3D-GCK 2.52 % 3.27 % 2.11 % 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.
413 WeakM3D code 2.26 % 5.03 % 1.63 % 0.08 s 1 core @ 2.5 Ghz (C/C++)
L. Peng, S. Yan, B. Wu, Z. Yang, X. He and D. Cai: WeakM3D: Towards Weakly Supervised Monocular 3D Object Detection. ICLR 2022.
414 ROI-10D 2.02 % 4.32 % 1.46 % 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.
415 FQNet 1.51 % 2.77 % 1.01 % 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.
416 3D-SSMFCNN code 1.41 % 1.88 % 1.11 % 0.1 s GPU @ 1.5 Ghz (C/C++)
L. Novak: Vehicle Detection and Pose Estimation for Autonomous Driving. 2017.
417 Initial_submit code 0.03 % 0.05 % 0.04 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
ERROR: Wrong syntax in BIBTEX file.
418 MonoDET code 0.01 % 0.03 % 0.01 % 0.04 s 1 core @ 2.5 Ghz (Python)
419 1D_CONV 0.00 % 0.00 % 0.00 % 0.03 s 1 core @ 2.5 Ghz (Python)
420 mBoW
This method makes use of Velodyne laser scans.
 0.00 % 0.00 % 0.00 % 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.
Table as LaTeX | Only published Methods

Pedestrian


Method Setting Code Moderate Easy Hard Runtime Environment
1 CasA++ code 49.29 % 56.33 % 46.70 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
H. Wu, J. Deng, C. Wen, X. Li and C. Wang: CasA: A Cascade Attention Network for 3D Object Detection from LiDAR point clouds. IEEE Transactions on Geoscience and Remote Sensing 2022.
2 TED code 49.21 % 55.85 % 46.52 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
H. Wu, C. Wen, W. Li, R. Yang and C. Wang: Transformation-Equivariant 3D Object Detection for Autonomous Driving. AAAI 2023.
3 3D HA Net code 48.90 % 56.27 % 46.25 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
Q. Xia, Y. Chen, G. Cai, G. Chen, D. Xie, J. Su and Z. Wang: 3D HANet: A Flexible 3D Heatmap Auxiliary Network for Object Detection. IEEE Transactions on Geoscience and Remote Sensing 2023.
4 BiProDet code 48.77 % 55.59 % 46.12 % 0.1 s GPU @ 2.5 Ghz (Python + C/C++)
Y. Zhang, Q. Zhang, J. Hou, Y. Yuan and G. Xing: Bidirectional Propagation for Cross- Modal 3D Object Detection. International Conference on Learning Representations .
5 VPFNet code 48.36 % 54.65 % 44.98 % 0.2 s 1 core @ 2.5 Ghz (C/C++)
C. Wang, H. Chen and L. Fu: VPFNet: Voxel-Pixel Fusion Network for Multi-class 3D Object Detection. 2021.
6 LoGoNet 47.43 % 53.07 % 45.22 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
X. Li, T. Ma, Y. Hou, B. Shi, Y. Yang, Y. Liu, X. Wu, Q. Chen, Y. Li, Y. Qiao and others: LoGoNet: Towards Accurate 3D Object Detection with Local-to-Global Cross-Modal Fusion. CVPR 2023.
7 DCAN-Second code 47.38 % 55.12 % 44.59 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
8 CasA code 47.09 % 54.04 % 44.56 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
H. Wu, J. Deng, C. Wen, X. Li and C. Wang: CasA: A Cascade Attention Network for 3D Object Detection from LiDAR point clouds. IEEE Transactions on Geoscience and Remote Sensing 2022.
9 EQ-PVRCNN code 47.02 % 55.84 % 42.94 % 0.2 s GPU @ 2.5 Ghz (Python + C/C++)
Z. Yang, L. Jiang, Y. Sun, B. Schiele and J. Jia: A Unified Query-based Paradigm for Point Cloud Understanding. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition 2022.
10 PiFeNet code 46.71 % 56.39 % 42.71 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
D. Le, H. Shi, H. Rezatofighi and J. Cai: Accurate and Real-time 3D Pedestrian Detection Using an Efficient Attentive Pillar Network. IEEE Robotics and Automation Letters 2022.
11 USVLab BSAODet code 46.50 % 52.69 % 43.10 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
W. Xiao, Y. Peng, C. Liu, J. Gao, Y. Wu and X. Li: Balanced Sample Assignment and Objective for Single-Model Multi-Class 3D Object Detection. IEEE Transactions on Circuits and Systems for Video Technology 2023.
12 ACF-Net 46.36 % 54.62 % 42.57 % n/a s 1 core @ 2.5 Ghz (C/C++)
13 RPPF-Net 46.14 % 53.58 % 42.59 % 0.1 s 1 core @ 2.5 Ghz (Python)
14 MPFusion 45.45 % 53.19 % 42.66 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
15 CAT-Det 45.44 % 54.26 % 41.94 % 0.3 s GPU @ 2.5 Ghz (Python + C/C++)
Y. Zhang, J. Chen and D. Huang: CAT-Det: Contrastively Augmented Transformer for Multi-modal 3D Object Detection. CVPR 2022.
16 HotSpotNet 45.37 % 53.10 % 41.47 % 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.
17 VPNetv2 45.33 % 52.73 % 42.75 % 0.1 s 1 core @ 2.5 Ghz (Python)
18 variance_point 44.89 % 53.72 % 41.21 % 0.05 s 1 core @ 2.5 Ghz (Python)
19 ACDet code 44.79 % 53.41 % 41.96 % 0.05 s 1 core @ 2.5 Ghz (C/C++)
J. Xu, G. Wang, X. Zhang and G. Wan: ACDet: Attentive Cross-view Fusion for LiDAR-based 3D Object Detection. 3DV 2022.
20 SPT 44.72 % 51.35 % 41.38 % 0.1 s GPU @ 2.5 Ghz (Python)
21 EPNet++ 44.38 % 52.79 % 41.29 % 0.1 s GPU @ 2.5 Ghz (Python)
Z. Liu, T. Huang, B. Li, X. Chen, X. Wang and X. Bai: EPNet++: Cascade Bi-Directional Fusion for Multi-Modal 3D Object Detection. IEEE Transactions on Pattern Analysis and Machine Intelligence 2022.
22 TANet code 44.34 % 53.72 % 40.49 % 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.
23 3DSSD code 44.27 % 54.64 % 40.23 % 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.
24 RFA 43.93 % 52.28 % 40.81 % 0.1s GPU @ 2 Ghz (python)
25 HPV-RCNN 43.86 % 52.54 % 41.56 % 0.08 s 1 core @ 2.5 Ghz (Python)
26 Point-GNN
This method makes use of Velodyne laser scans.
 code 43.77 % 51.92 % 40.14 % 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.
27 PA-RCNN code 43.57 % 51.25 % 40.35 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
28 Anomynous 43.57 % 53.02 % 39.86 % 0.09 s 1 core @ 2.5 Ghz (C/C++)
29 Anomynous 43.57 % 53.02 % 39.86 % 0.09 s 1 core @ 2.5 Ghz (C/C++)
30 FV2P v2 43.47 % 50.64 % 40.09 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
31 F-ConvNet
This method makes use of Velodyne laser scans.
 code 43.38 % 52.16 % 38.80 % 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.
32 MMLab-PartA^2
This method makes use of Velodyne laser scans.
 code 43.35 % 53.10 % 40.06 % 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.
33 MMF 43.30 % 51.39 % 39.67 % 1 s 1 core @ 2.5 Ghz (C/C++)
34 MMLab PV-RCNN
This method makes use of Velodyne laser scans.
 code 43.29 % 52.17 % 40.29 % 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.
35 FromVoxelToPoint code 43.28 % 51.80 % 40.71 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
J. Li, H. Dai, L. Shao and Y. Ding: From Voxel to Point: IoU-guided 3D Object Detection for Point Cloud with Voxel-to- Point Decoder. MM '21: The 29th ACM International Conference on Multimedia (ACM MM) 2021.
36 VMVS
This method makes use of Velodyne laser scans.
 43.27 % 53.44 % 39.51 % 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.
37 P2V-RCNN 43.19 % 50.91 % 40.81 % 0.1 s 2 cores @ 2.5 Ghz (Python)
J. Li, S. Luo, Z. Zhu, H. Dai, A. Krylov, Y. Ding and L. Shao: P2V-RCNN: Point to Voxel Feature Learning for 3D Object Detection from Point Clouds. IEEE Access 2021.
38 MGAF-3DSSD code 43.09 % 50.65 % 39.65 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
J. Li, H. Dai, L. Shao and Y. Ding: Anchor-free 3D Single Stage Detector with Mask-Guided Attention for Point Cloud. MM '21: The 29th ACM International Conference on Multimedia (ACM MM) 2021.
39 Frustum-PointPillars code 42.89 % 51.22 % 39.28 % 0.06 s 4 cores @ 3.0 Ghz (Python)
A. Paigwar, D. Sierra-Gonzalez, \. Erkent and C. Laugier: Frustum-PointPillars: A Multi-Stage Approach for 3D Object Detection using RGB Camera and LiDAR. International Conference on Computer Vision, ICCV, Workshop on Autonomous Vehicle Vision 2021.
40 PSA-Det3D 42.81 % 49.72 % 39.58 % 0.1 s GPU @ 2.5 Ghz (Python)
41 Fast-CLOCs 42.72 % 52.10 % 39.08 % 0.1 s GPU @ 2.5 Ghz (Python)
S. Pang, D. Morris and H. Radha: Fast-CLOCs: Fast Camera-LiDAR Object Candidates Fusion for 3D Object Detection. Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision (WACV) 2022.
42 Anonymous 42.72 % 51.16 % 39.06 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
43 HMFI code 42.65 % 50.88 % 39.78 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
X. Li, B. Shi, Y. Hou, X. Wu, T. Ma, Y. Li and L. He: Homogeneous Multi-modal Feature Fusion and Interaction for 3D Object Detection. ECCV 2022.
44 STD code 42.47 % 53.29 % 38.35 % 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.
45 POP-RCNN 42.45 % 50.22 % 39.18 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
46 VoCo 42.32 % 47.96 % 39.69 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
47 AVOD-FPN
This method makes use of Velodyne laser scans.
 code 42.27 % 50.46 % 39.04 % 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.
48 Anonymous
This method makes use of Velodyne laser scans.
 42.25 % 49.06 % 40.02 % 0.05 s GPU @ 3.0 Ghz (Python + C/C++)
49 SemanticVoxels 42.19 % 50.90 % 39.52 % 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.
50 F-PointNet
This method makes use of Velodyne laser scans.
 code 42.15 % 50.53 % 38.08 % 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.
51 Anonymous 42.09 % 49.06 % 38.73 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
52 3SNet 42.02 % 48.91 % 39.39 % 0.07 s GPU @ 2.5 Ghz (Python)
53 DTE3D 41.97 % 49.91 % 39.27 % 0.15s 1 core @ 2.5 Ghz (C/C++)
54 CZY_PPF_Net2 41.93 % 47.18 % 40.08 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
55 PointPillars
This method makes use of Velodyne laser scans.
 code 41.92 % 51.45 % 38.89 % 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.
56 RangeRCNN++ code 41.89 % 48.18 % 38.81 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
57 PV-PMRTNet 41.68 % 46.32 % 38.98 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
58 MVENet 41.55 % 48.66 % 39.29 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
59 epBRM
This method makes use of Velodyne laser scans.
 code 41.52 % 49.17 % 39.08 % 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.
60 SGDA3D 41.39 % 47.59 % 38.37 % 0.07 s 1 core @ 2.5 Ghz (Python)
61 CZY_3917 41.38 % 46.09 % 38.64 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
62 DGT-Det3D code 41.07 % 48.79 % 38.09 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
63 IA-SSD (single) code 41.03 % 47.90 % 37.98 % 0.013 s 1 core @ 2.5 Ghz (C/C++)
Y. Zhang, Q. Hu, G. Xu, Y. Ma, J. Wan and Y. Guo: Not All Points Are Equal: Learning Highly Efficient Point-based Detectors for 3D LiDAR Point Clouds. CVPR 2022.
64 PointPainting
This method makes use of Velodyne laser scans.
 40.97 % 50.32 % 37.87 % 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.
65 DSA-PV-RCNN
This method makes use of Velodyne laser scans.
 code 40.89 % 46.97 % 38.80 % 0.08 s 1 core @ 2.5 Ghz (Python + C/C++)
P. Bhattacharyya, C. Huang and K. Czarnecki: SA-Det3D: Self-Attention Based Context-Aware 3D Object Detection. 2021.
66 Rnet 40.88 % 46.85 % 38.75 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
67 B2PE 40.72 % 48.02 % 37.67 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
68 PDV code 40.56 % 47.80 % 38.46 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
J. Hu, T. Kuai and S. Waslander: Point Density-Aware Voxels for LiDAR 3D Object Detection. CVPR 2022.
69 MVMM code 40.49 % 47.54 % 38.36 % 0.04 s GPU @ 2.5 Ghz (Python + C/C++)
70 Under Blind Review#2 40.47 % 46.61 % 38.60 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
71 U_SECOND_V4 40.40 % 48.46 % 37.40 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
72 SVGA-Net 40.39 % 48.48 % 37.92 % 0.03s 1 core @ 2.5 Ghz (Python + C/C++)
Q. He, Z. Wang, H. Zeng, Y. Zeng and Y. Liu: SVGA-Net: Sparse Voxel-Graph Attention Network for 3D Object Detection from Point Clouds. AAAI 2022.
73 CZY_PPF_Net 40.28 % 46.03 % 38.19 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
74 RealSynthesis-SECOND 40.27 % 47.23 % 37.15 % 0.05 s 1 core @ 2.5 Ghz (Python)
75 U_PVRCNN_V2 40.26 % 47.10 % 37.42 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
76 Semantical PVRCNN 40.18 % 45.94 % 37.28 % 0.07 s 1 core @ 2.5 Ghz (C/C++)
77 EOTL code 40.11 % 48.65 % 35.99 % TBD s 1 core @ 2.5 Ghz (Python + C/C++)
78 M3DeTR code 39.94 % 45.70 % 37.66 % n/a s GPU @ 1.0 Ghz (Python)
T. Guan, J. Wang, S. Lan, R. Chandra, Z. Wu, L. Davis and D. Manocha: M3DeTR: Multi-representation, Multi- scale, Mutual-relation 3D Object Detection with Transformers. 2021.
79 VPNet 39.67 % 47.55 % 36.66 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
80 IKT3D
This method makes use of Velodyne laser scans.
 39.53 % 45.34 % 37.14 % 0.05 s 1 core @ 2.5 Ghz (Python)
81 WGVRF 39.52 % 45.98 % 37.56 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
82 U_RVRCNN_V2_1 39.50 % 46.42 % 37.29 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
83 VGA-RCNN 39.48 % 47.80 % 36.99 % 0.07 s 1 core @ 2.5 Ghz (Python)
84 AFTD 39.45 % 48.28 % 36.07 % 1 s 1 core @ 2.5 Ghz (Python + C/C++)
85 KPSCC code 39.45 % 47.08 % 37.12 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
86 SRDL 39.43 % 47.30 % 36.99 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
ERROR: Wrong syntax in BIBTEX file.
87 PVRCNN_8369 39.41 % 47.30 % 36.96 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
88 MMLab-PointRCNN
This method makes use of Velodyne laser scans.
 code 39.37 % 47.98 % 36.01 % 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.
89 ARPNET 39.31 % 48.32 % 35.93 % 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.
90 CZY 39.26 % 45.08 % 36.38 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
91 3D-BCM 39.09 % 45.70 % 35.49 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
92 IA-SSD (multi) code 39.03 % 46.51 % 35.61 % 0.014 s 1 core @ 2.5 Ghz (C/C++)
Y. Zhang, Q. Hu, G. Xu, Y. Ma, J. Wan and Y. Guo: Not All Points Are Equal: Learning Highly Efficient Point-based Detectors for 3D LiDAR Point Clouds. CVPR 2022.
93 GS 38.90 % 45.25 % 35.87 % TBD s 1 core @ 2.5 Ghz (C/C++)
94 BASA 38.90 % 46.74 % 36.24 % 1s 1 core @ 2.5 Ghz (python)
95 PSA-SSD 38.87 % 46.21 % 36.85 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
96 IPS 38.82 % 46.37 % 36.63 % TBD s 1 core @ 2.5 Ghz (C/C++)
97 DTSSD 38.75 % 45.03 % 36.70 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
98 SIF 38.74 % 46.23 % 36.06 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
P. An: SIF. Submitted to CVIU 2021.
99 HybridPillars 38.67 % 44.11 % 36.47 % 0.05 s 1 core @ 2.5 Ghz (C/C++)
100 SCNet
This method makes use of Velodyne laser scans.
 38.66 % 47.83 % 35.70 % 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.
101 GS-FPS code 38.61 % 45.43 % 35.63 % TBD s 1 core @ 2.5 Ghz (C/C++)
102 Faraway-Frustum
This method makes use of Velodyne laser scans.
 code 38.58 % 46.33 % 35.71 % 0.1 s GPU @ 2.5 Ghz (Python)
H. Zhang, D. Yang, E. Yurtsever, K. Redmill and U. Ozguner: Faraway-frustum: Dealing with lidar sparsity for 3D object detection using fusion. 2021 IEEE International Intelligent Transportation Systems Conference (ITSC) 2021.
103 AGS-SSD[la] 38.53 % 46.10 % 35.40 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
104 STNet 38.41 % 46.19 % 36.27 % 0.60 s 1 core @ 2.5 Ghz (Python)
105 GEO_LOC 38.31 % 45.87 % 35.34 % TBD s 1 core @ 2.5 Ghz (C/C++)
106 IA-SSDx 38.22 % 46.58 % 35.01 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
107 HybridPillars (SSD) 38.16 % 44.81 % 36.06 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
108 GS-FPS-LT 38.10 % 44.05 % 35.75 % TBD s 1 core @ 2.5 Ghz (C/C++)
109 OA-TSSD 37.97 % 46.12 % 35.05 % 20 s 8 cores @ 2.5 Ghz (C/C++)
110 ACCF 37.91 % 44.97 % 35.63 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
111 NV-RCNN 37.82 % 44.38 % 35.55 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
112 PEF code 37.78 % 45.16 % 34.34 % N/A s 1 core @ 2.5 Ghz (C/C++)
113 DTSSD 37.77 % 44.55 % 34.97 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
114 SWA code 37.76 % 44.59 % 34.82 % 0.18 s 1 core @ 2.5 Ghz (C/C++)
115 DVFENet 37.50 % 43.55 % 35.33 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
Y. He, G. Xia, Y. Luo, L. Su, Z. Zhang, W. Li and P. Wang: DVFENet: Dual-branch Voxel Feature Extraction Network for 3D Object Detection. Neurocomputing 2021.
116 MLOD
This method makes use of Velodyne laser scans.
 code 37.47 % 47.58 % 35.07 % 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.
117 S-AT GCN 37.37 % 44.63 % 34.92 % 0.02 s GPU @ 2.0 Ghz (Python)
L. Wang, C. Wang, X. Zhang, T. Lan and J. Li: S-AT GCN: Spatial-Attention Graph Convolution Network based Feature Enhancement for 3D Object Detection. CoRR 2021.
118 T_PVRCNN 37.12 % 45.20 % 34.04 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
119 ATT_SSD 37.03 % 44.14 % 34.94 % 0.01 s 1 core @ 2.5 Ghz (Python)
120 T_PVRCNN_V2 36.79 % 44.81 % 33.83 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
121 XView 36.79 % 42.44 % 34.96 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
L. Xie, G. Xu, D. Cai and X. He: X-view: Non-egocentric Multi-View 3D Object Detector. 2021.
122 TTT_SSD 36.26 % 43.22 % 34.31 % TBD s 1 core @ 2.5 Ghz (C/C++)
123 PFF3D
This method makes use of Velodyne laser scans.
 code 36.07 % 43.93 % 32.86 % 0.05 s GPU @ 3.0 Ghz (Python + C/C++)
L. Wen and K. Jo: Fast and Accurate 3D Object Detection for Lidar-Camera-Based Autonomous Vehicles Using One Shared Voxel-Based Backbone. IEEE Access 2021.
124 SECOND_7862 35.92 % 43.04 % 33.56 % 1 s 1 core @ 2.5 Ghz (Python)
125 BirdNet+
This method makes use of Velodyne laser scans.
 code 35.06 % 41.55 % 32.93 % 0.11 s Titan Xp (PyTorch)
A. Barrera, J. Beltrán, C. Guindel, J. Iglesias and F. García: BirdNet+: Two-Stage 3D Object Detection in LiDAR through a Sparsity-Invariant Bird’s Eye View. IEEE Access 2021.
126 R^2 R-CNN 34.62 % 43.65 % 30.97 % 0.1 s 1 core @ 2.5 Ghz (Python)
127 AB3DMOT
This method makes use of Velodyne laser scans.
This is an online method (no batch processing).
 code 34.59 % 42.27 % 31.37 % 0.0047s 1 core @ 2.5 Ghz (python)
X. Weng and K. Kitani: A Baseline for 3D Multi-Object Tracking. arXiv:1907.03961 2019.
128 LightCPC code 34.10 % 39.59 % 31.47 % 0.02 s 1 core @ 2.5 Ghz (Python + C/C++)
129 CAD
This method uses stereo information.
This method makes use of Velodyne laser scans.
 33.67 % 41.35 % 31.28 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
130 KPP3D code 32.91 % 41.34 % 30.45 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
131 DSGN++
This method uses stereo information.
 code 32.74 % 43.05 % 29.54 % 0.2 s GeForce RTX 2080Ti
Y. Chen, S. Huang, S. Liu, B. Yu and J. Jia: DSGN++: Exploiting Visual-Spatial Relation for Stereo-Based 3D Detectors. IEEE Transactions on Pattern Analysis and Machine Intelligence 2022.
132 Voxel-MAE+SECOND code 32.60 % 39.18 % 30.62 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
133 ZMMPP 32.38 % 39.54 % 30.25 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
134 StereoDistill 32.23 % 44.12 % 28.95 % 0.4 s 1 core @ 2.5 Ghz (Python)
Z. Liu, X. Ye, X. Tan, D. Errui, Y. Zhou and X. Bai: StereoDistill: Pick the Cream from LiDAR for Distilling Stereo-based 3D Object Detection. Proceedings of the AAAI Conference on Artificial Intelligence 2023.
135 BirdNet+ (legacy)
This method makes use of Velodyne laser scans.
 code 31.46 % 37.99 % 29.46 % 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. 2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC) 2020.
136 SparsePool code 30.38 % 37.84 % 26.94 % 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.
137 MMLAB LIGA-Stereo
This method uses stereo information.
 code 30.00 % 40.46 % 27.07 % 0.4 s 1 core @ 2.5 Ghz (Python + C/C++)
X. Guo, S. Shi, X. Wang and H. Li: LIGA-Stereo: Learning LiDAR Geometry Aware Representations for Stereo-based 3D Detector. Proceedings of the IEEE/CVF International Conference on Computer Vision (ICCV) 2021.
138 DMF
This method uses stereo information.
 29.77 % 37.21 % 27.62 % 0.2 s 1 core @ 2.5 Ghz (Python + C/C++)
X. J. Chen and W. Xu: Disparity-Based Multiscale Fusion Network for Transportation Detection. IEEE Transactions on Intelligent Transportation Systems 2022.
139 SparsePool code 27.92 % 35.52 % 25.87 % 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.
140 AVOD
This method makes use of Velodyne laser scans.
 code 27.86 % 36.10 % 25.76 % 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 Pseudo-Stereo++ 27.45 % 36.89 % 24.01 % 0.4 s 1 core @ 2.5 Ghz (Python + C/C++)
142 PS++ 26.71 % 36.00 % 23.47 % 0.4 s 1 core @ 2.5 Ghz (C/C++)
143 CSW3D
This method makes use of Velodyne laser scans.
 26.64 % 33.75 % 23.34 % 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.
144 PointRGBNet 26.40 % 34.77 % 24.03 % 0.08 s 4 cores @ 2.5 Ghz (Python + C/C++)
P. Xie Desheng: Real-time Detection of 3D Objects Based on Multi-Sensor Information Fusion. Automotive Engineering 2022.
145 Disp R-CNN (velo)
This method uses stereo information.
 code 25.80 % 37.12 % 22.04 % 0.387 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.
146 CZY 25.47 % 32.33 % 23.60 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
147 Disp R-CNN
This method uses stereo information.
 code 25.40 % 35.75 % 21.79 % 0.387 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.
148 CG-Stereo
This method uses stereo information.
 24.31 % 33.22 % 20.95 % 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.
149 DSC3D
This method uses stereo information.
 20.35 % 29.54 % 18.03 % 0.31 s GPU @ 2.5 Ghz (Python)
150 YOLOStereo3D
This method uses stereo information.
 code 19.75 % 28.49 % 16.48 % 0.1 s GPU 1080Ti
Y. Liu, L. Wang and M. Liu: YOLOStereo3D: A Step Back to 2D for Efficient Stereo 3D Detection. 2021 International Conference on Robotics and Automation (ICRA) 2021.
151 OC Stereo
This method uses stereo information.
 code 17.58 % 24.48 % 15.60 % 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.
152 BirdNet
This method makes use of Velodyne laser scans.
 17.08 % 22.04 % 15.82 % 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.
153 DSGN
This method uses stereo information.
 code 15.55 % 20.53 % 14.15 % 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.
154 Complexer-YOLO
This method makes use of Velodyne laser scans.
 13.96 % 17.60 % 12.70 % 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.
155 RT3D-GMP
This method uses stereo information.
 11.41 % 16.23 % 10.12 % 0.06 s GPU @ 2.5 Ghz (Python + C/C++)
H. Königshof and C. Stiller: Learning-Based Shape Estimation with Grid Map Patches for Realtime 3D Object Detection for Automated Driving. 2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC) 2020.
156 MonoLSS 11.27 % 17.09 % 10.00 % 0.04 s 1 core @ 2.5 Ghz (Python)
157 DD3D code 11.04 % 16.64 % 9.38 % n/a s 1 core @ 2.5 Ghz (C/C++)
D. Park, R. Ambrus, V. Guizilini, J. Li and A. Gaidon: Is Pseudo-Lidar needed for Monocular 3D Object detection?. IEEE/CVF International Conference on Computer Vision (ICCV) .
158 DD3Dv2 code 10.82 % 16.25 % 9.24 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
159 PS-fld code 10.82 % 16.95 % 9.26 % 0.25 s 1 core @ 2.5 Ghz (C/C++)
Y. Chen, H. Dai and Y. Ding: Pseudo-Stereo for Monocular 3D Object Detection in Autonomous Driving. Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2022.
160 DEPT 10.81 % 16.28 % 9.15 % 0.03 s 1 core @ 2.5 Ghz (Python)
161 CIE 10.53 % 16.19 % 8.97 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
Anonymities: Consistency of Implicit and Explicit Features Matters for Monocular 3D Object Detection. arXiv preprint arXiv:2207.07933 2022.
162 OPA-3D code 10.49 % 15.65 % 8.80 % 0.04 s 1 core @ 3.5 Ghz (Python)
Y. Su, Y. Di, G. Zhai, F. Manhardt, J. Rambach, B. Busam, D. Stricker and F. Tombari: OPA-3D: Occlusion-Aware Pixel-Wise Aggregation for Monocular 3D Object Detection. IEEE Robotics and Automation Letters 2023.
163 BAIR 10.34 % 15.71 % 8.60 % 0.04 s 1 core @ 2.5 Ghz (Python)
164 ESGN
This method uses stereo information.
 10.27 % 14.05 % 9.02 % 0.06 s GPU @ 2.5 Ghz (Python + C/C++)
A. Gao, Y. Pang, J. Nie, Z. Shao, J. Cao, Y. Guo and X. Li: ESGN: Efficient Stereo Geometry Network for Fast 3D Object Detection. IEEE Transactions on Circuits and Systems for Video Technology 2022.
165 MonoDTR 10.18 % 15.33 % 8.61 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
K. Huang, T. Wu, H. Su and W. Hsu: MonoDTR: Monocular 3D Object Detection with Depth-Aware Transformer. CVPR 2022.
166 MonoInsight 10.01 % 15.17 % 9.06 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
167 GUPNet code 9.76 % 14.95 % 8.41 % NA s 1 core @ 2.5 Ghz (Python + C/C++)
Y. Lu, X. Ma, L. Yang, T. Zhang, Y. Liu, Q. Chu, J. Yan and W. Ouyang: Geometry Uncertainty Projection Network for Monocular 3D Object Detection. arXiv preprint arXiv:2107.13774 2021.
168 DD3D-dequity 9.57 % 14.28 % 8.20 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
169 BSM3D 9.37 % 14.05 % 7.92 % 0.03 s 1 core @ 2.5 Ghz (Python)
170 OccupancyM3D 9.15 % 14.68 % 7.80 % 0.11 s 1 core @ 2.5 Ghz (C/C++)
171 BCA 8.85 % 13.60 % 8.05 % 0.17 s GPU @ 2.5 Ghz (Python)
172 MonoAD 8.84 % 13.85 % 7.38 % 0.03 s GPU @ 2.5 Ghz (Python)
173 SGM3D code 8.81 % 13.99 % 7.26 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
Z. Zhou, L. Du, X. Ye, Z. Zou, X. Tan, L. Zhang, X. Xue and J. Feng: SGM3D: Stereo Guided Monocular 3D Object Detection. RA-L 2022.
174 CMKD code 8.79 % 13.94 % 7.42 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
Y. Hong, H. Dai and Y. Ding: Cross-Modality Knowledge Distillation Network for Monocular 3D Object Detection. ECCV 2022.
175 AMNet 8.67 % 13.18 % 7.43 % 0.03 s GPU @ 1.0 Ghz (Python)
176 DEVIANT code 8.65 % 13.43 % 7.69 % 0.04 s 1 GPU (Python)
A. Kumar, G. Brazil, E. Corona, A. Parchami and X. Liu: DEVIANT: Depth EquiVarIAnt NeTwork for Monocular 3D Object Detection. European Conference on Computer Vision (ECCV) 2022.
177 MonoPCNS 8.63 % 14.16 % 7.30 % 0.14 s GPU @ 2.5 Ghz (Python)
178 MonoA^2 8.51 % 12.95 % 7.56 % na s 1 core @ 2.5 Ghz (C/C++)
179 MM3D 8.47 % 13.65 % 7.05 % NA s 1 core @ 2.5 Ghz (C/C++)
180 Mono3DMethod 8.37 % 13.38 % 6.91 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
181 MonoXiver 8.32 % 12.70 % 7.04 % 0.03s GPU @ 2.5 Ghz (Python)
182 MM3DV2 8.26 % 13.51 % 7.16 % NA s 1 core @ 2.5 Ghz (C/C++)
183 MonoNeRD 8.26 % 13.20 % 7.02 % na s 1 core @ 2.5 Ghz (C/C++)
184 CaDDN code 8.14 % 12.87 % 6.76 % 0.63 s GPU @ 2.5 Ghz (Python)
C. Reading, A. Harakeh, J. Chae and S. Waslander: Categorical Depth Distribution Network for Monocular 3D Object Detection. CVPR 2021.
185 Anonymous 8.04 % 12.18 % 6.58 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
186 MonoRCNN++ code 7.90 % 12.26 % 6.62 % 0.07 s GPU @ 2.5 Ghz (Python)
X. Shi, Z. Chen and T. Kim: Multivariate Probabilistic Monocular 3D Object Detection. WACV 2023.
187 SparseLiDAR_fusion 7.71 % 11.41 % 6.38 % 0.08 s 1 core @ 2.5 Ghz (C/C++)
188 HomoLoss(monoflex) code 7.66 % 11.87 % 6.82 % 0.04 s 1 core @ 2.5 Ghz (Python)
J. Gu, B. Wu, L. Fan, J. Huang, S. Cao, Z. Xiang and X. Hua: Homography Loss for Monocular 3D Object Detection. Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2022.
189 Mix-Teaching code 7.47 % 11.67 % 6.61 % 30 s 1 core @ 2.5 Ghz (C/C++)
L. Yang, X. Zhang, L. Wang, M. Zhu, C. Zhang and J. Li: Mix-Teaching: A Simple, Unified and Effective Semi-Supervised Learning Framework for Monocular 3D Object Detection. ArXiv 2022.
190 M3DGAF 7.42 % 11.68 % 6.65 % 0.07 s 1 core @ 2.5 Ghz (Python)
191 LPCG-Monoflex code 7.33 % 10.82 % 6.18 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
L. Peng, F. Liu, Z. Yu, S. Yan, D. Deng, Z. Yang, H. Liu and D. Cai: Lidar Point Cloud Guided Monocular 3D Object Detection. ECCV 2022.
192 MonoDDE 7.32 % 11.13 % 6.67 % 0.04 s 1 core @ 2.5 Ghz (Python)
Z. Li, Z. Qu, Y. Zhou, J. Liu, H. Wang and L. Jiang: Diversity Matters: Fully Exploiting Depth Clues for Reliable Monocular 3D Object Detection. CVPR 2022.
193 MonoAug 7.31 % 11.31 % 6.12 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
194 3DSeMoDLE code 7.26 % 10.78 % 6.05 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
195 RefinedMPL 7.18 % 11.14 % 5.84 % 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.
196 Shape-Aware 7.16 % 10.40 % 5.93 % 0.05 s 1 core @ 2.5 Ghz (Python)
197 UNM3D 7.13 % 11.25 % 6.00 % na s 1 core @ 2.5 Ghz (C/C++)
198 MDSNet 7.09 % 10.68 % 6.06 % 0.05 s 1 core @ 2.5 Ghz (Python)
Z. Xie, Y. Song, J. Wu, Z. Li, C. Song and Z. Xu: MDS-Net: Multi-Scale Depth Stratification 3D Object Detection from Monocular Images. Sensors 2022.
199 Anonymous 6.95 % 10.98 % 5.85 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
200 TopNet-HighRes
This method makes use of Velodyne laser scans.
 6.92 % 10.40 % 6.63 % 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.
201 MonoRUn code 6.78 % 10.88 % 5.83 % 0.07 s GPU @ 2.5 Ghz (Python + C/C++)
H. Chen, Y. Huang, W. Tian, Z. Gao and L. Xiong: MonoRUn: Monocular 3D Object Detection by Reconstruction and Uncertainty Propagation. IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2021.
202 DCD code 6.73 % 10.37 % 6.28 % 1 s 1 core @ 2.5 Ghz (C/C++)
203 MonoPair 6.68 % 10.02 % 5.53 % 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.
204 MonoATT_V2 code 6.66 % 10.55 % 5.43 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
205 monodle code 6.55 % 9.64 % 5.44 % 0.04 s GPU @ 2.5 Ghz (Python)
X. Ma, Y. Zhang, D. Xu, D. Zhou, S. Yi, H. Li and W. Ouyang: Delving into Localization Errors for Monocular 3D Object Detection. CVPR 2021 .
206 MonoAug 6.36 % 9.59 % 5.24 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
207 MonoFlex 6.31 % 9.43 % 5.26 % 0.03 s GPU @ 2.5 Ghz (Python)
Y. Zhang, J. Lu and J. Zhou: Objects are Different: Flexible Monocular 3D Object Detection. CVPR 2021.
208 FMF-occlusion-net 5.23 % 7.62 % 4.28 % 0.16 s 1 core @ 2.5 Ghz (Python + C/C++)
H. Liu, H. Liu, Y. Wang, F. Sun and W. Huang: Fine-grained Multi-level Fusion for Anti- occlusion Monocular 3D Object Detection. IEEE Transactions on Image Processing 2022.
209 Aug3D-RPN 4.71 % 6.01 % 3.87 % 0.08 s 1 core @ 2.5 Ghz (C/C++)
C. He, J. Huang, X. Hua and L. Zhang: Aug3D-RPN: Improving Monocular 3D Object Detection by Synthetic Images with Virtual Depth. 2021.
210 Shift R-CNN (mono) code 4.66 % 7.95 % 4.16 % 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.
211 MonoPSR code 4.00 % 6.12 % 3.30 % 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.
212 DFR-Net 3.62 % 6.09 % 3.39 % 0.18 s 1080 Ti (Pytorch)
Z. Zou, X. Ye, L. Du, X. Cheng, X. Tan, L. Zhang, J. Feng, X. Xue and E. Ding: The devil is in the task: Exploiting reciprocal appearance-localization features for monocular 3d object detection . ICCV 2021.
213 DDMP-3D 3.55 % 4.93 % 3.01 % 0.18 s 1 core @ 2.5 Ghz (Python)
L. Wang, L. Du, X. Ye, Y. Fu, G. Guo, X. Xue, J. Feng and L. Zhang: Depth-conditioned Dynamic Message Propagation for Monocular 3D Object Detection. CVPR 2020.
214 M3D-RPN code 3.48 % 4.92 % 2.94 % 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 .
215 D4LCN code 3.42 % 4.55 % 2.83 % 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.
216 MoGDE 3.42 % 5.57 % 2.73 % 0.03 s GPU @ 2.5 Ghz (Python)
217 CMAN 3.41 % 4.62 % 2.87 % 0.15 s 1 core @ 2.5 Ghz (Python)
C. Yuanzhouhan Cao: CMAN: Leaning Global Structure Correlation for Monocular 3D Object Detection. IEEE Trans. Intell. Transport. Syst. 2022.
218 QD-3DT
This is an online method (no batch processing).
 code 3.37 % 5.53 % 3.02 % 0.03 s GPU @ 2.5 Ghz (Python)
H. Hu, Y. Yang, T. Fischer, F. Yu, T. Darrell and M. Sun: Monocular Quasi-Dense 3D Object Tracking. ArXiv:2103.07351 2021.
219 MonoEF 2.79 % 4.27 % 2.21 % 0.03 s 1 core @ 2.5 Ghz (Python)
Y. Zhou, Y. He, H. Zhu, C. Wang, H. Li and Q. Jiang: Monocular 3D Object Detection: An Extrinsic Parameter Free Approach. Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2021.
220 RT3DStereo
This method uses stereo information.
 2.45 % 3.28 % 2.35 % 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.
221 MonoLiG 1.94 % 2.89 % 1.91 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
222 TopNet-UncEst
This method makes use of Velodyne laser scans.
 1.87 % 3.42 % 1.73 % 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.
223 SS3D 1.78 % 2.31 % 1.48 % 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.
224 PGD-FCOS3D code 1.49 % 2.28 % 1.38 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
T. Wang, X. Zhu, J. Pang and D. Lin: Probabilistic and Geometric Depth: Detecting Objects in Perspective. Conference on Robot Learning (CoRL) 2021.
225 SparVox3D 1.35 % 1.93 % 1.04 % 0.05 s GPU @ 2.0 Ghz (Python)
E. Balatkan and F. Kıraç: Improving Regression Performance on Monocular 3D Object Detection Using Bin-Mixing and Sparse Voxel Data. 2021 6th International Conference on Computer Science and Engineering (UBMK) 2021.
226 Plane-Constraints 1.09 % 1.73 % 1.04 % 0.05 s 4 cores @ 3.0 Ghz (Python)
H. Yao, J. Chen, Z. Wang, X. Wang, X. Chai, Y. Qiu and P. Han: Vertex points are not enough: Monocular 3D object detection via intra-and inter-plane constraints. Neural Networks 2023.
227 mBoW
This method makes use of Velodyne laser scans.
 0.00 % 0.00 % 0.00 % 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.
Table as LaTeX | Only published Methods

Cyclist


Method Setting Code Moderate Easy Hard Runtime Environment
1 BiProDet code 74.32 % 86.74 % 67.45 % 0.1 s GPU @ 2.5 Ghz (Python + C/C++)
Y. Zhang, Q. Zhang, J. Hou, Y. Yuan and G. Xing: Bidirectional Propagation for Cross- Modal 3D Object Detection. International Conference on Learning Representations .
2 TED code 74.12 % 88.82 % 66.84 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
H. Wu, C. Wen, W. Li, R. Yang and C. Wang: Transformation-Equivariant 3D Object Detection for Autonomous Driving. AAAI 2023.
3 CasA++ code 73.79 % 87.76 % 66.84 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
H. Wu, J. Deng, C. Wen, X. Li and C. Wang: CasA: A Cascade Attention Network for 3D Object Detection from LiDAR point clouds. IEEE Transactions on Geoscience and Remote Sensing 2022.
4 CasA code 73.47 % 87.91 % 66.17 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
H. Wu, J. Deng, C. Wen, X. Li and C. Wang: CasA: A Cascade Attention Network for 3D Object Detection from LiDAR point clouds. IEEE Transactions on Geoscience and Remote Sensing 2022.
5 3D HA Net code 73.38 % 87.74 % 66.37 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
Q. Xia, Y. Chen, G. Cai, G. Chen, D. Xie, J. Su and Z. Wang: 3D HANet: A Flexible 3D Heatmap Auxiliary Network for Object Detection. IEEE Transactions on Geoscience and Remote Sensing 2023.
6 LoGoNet 71.70 % 84.47 % 64.67 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
X. Li, T. Ma, Y. Hou, B. Shi, Y. Yang, Y. Liu, X. Wu, Q. Chen, Y. Li, Y. Qiao and others: LoGoNet: Towards Accurate 3D Object Detection with Local-to-Global Cross-Modal Fusion. CVPR 2023.
7 USVLab BSAODet code 70.48 % 83.17 % 62.46 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
W. Xiao, Y. Peng, C. Liu, J. Gao, Y. Wu and X. Li: Balanced Sample Assignment and Objective for Single-Model Multi-Class 3D Object Detection. IEEE Transactions on Circuits and Systems for Video Technology 2023.
8 HMFI code 70.37 % 84.02 % 62.57 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
X. Li, B. Shi, Y. Hou, X. Wu, T. Ma, Y. Li and L. He: Homogeneous Multi-modal Feature Fusion and Interaction for 3D Object Detection. ECCV 2022.
9 HPV-RCNN 69.56 % 84.24 % 61.42 % 0.08 s 1 core @ 2.5 Ghz (Python)
10 EQ-PVRCNN code 69.10 % 85.41 % 62.30 % 0.2 s GPU @ 2.5 Ghz (Python + C/C++)
Z. Yang, L. Jiang, Y. Sun, B. Schiele and J. Jia: A Unified Query-based Paradigm for Point Cloud Understanding. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition 2022.
11 PV-PMRTNet 69.03 % 83.08 % 61.47 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
12 VoCo 69.00 % 82.74 % 62.46 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
13 CAT-Det 68.81 % 83.68 % 61.45 % 0.3 s GPU @ 2.5 Ghz (Python + C/C++)
Y. Zhang, J. Chen and D. Huang: CAT-Det: Contrastively Augmented Transformer for Multi-modal 3D Object Detection. CVPR 2022.
14 CZY_PPF_Net2 68.79 % 82.21 % 61.13 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
15 BtcDet
This method makes use of Velodyne laser scans.
 code 68.68 % 82.81 % 61.81 % 0.09 s GPU @ 2.5 Ghz (Python + C/C++)
Q. Xu, Y. Zhong and U. Neumann: Behind the Curtain: Learning Occluded Shapes for 3D Object Detection. Proceedings of the AAAI Conference on Artificial Intelligence 2022.
16 SPT 68.60 % 84.90 % 61.69 % 0.1 s GPU @ 2.5 Ghz (Python)
17 Anonymous 68.57 % 82.84 % 60.51 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
18 DSA-PV-RCNN
This method makes use of Velodyne laser scans.
 code 68.54 % 82.19 % 61.33 % 0.08 s 1 core @ 2.5 Ghz (Python + C/C++)
P. Bhattacharyya, C. Huang and K. Czarnecki: SA-Det3D: Self-Attention Based Context-Aware 3D Object Detection. 2021.
19 ACF-Net 68.37 % 84.29 % 62.08 % n/a s 1 core @ 2.5 Ghz (C/C++)
20 CZY_PPF_Net 68.23 % 83.46 % 62.05 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
21 Semantical PVRCNN 68.21 % 83.46 % 61.17 % 0.07 s 1 core @ 2.5 Ghz (C/C++)
22 Rnet 68.05 % 81.20 % 60.64 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
23 PA-RCNN code 68.04 % 83.32 % 59.88 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
24 Under Blind Review#2 68.03 % 81.55 % 60.51 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
25 PDV code 67.81 % 83.04 % 60.46 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
J. Hu, T. Kuai and S. Waslander: Point Density-Aware Voxels for LiDAR 3D Object Detection. CVPR 2022.
26 RangeIoUDet
This method makes use of Velodyne laser scans.
 67.77 % 83.12 % 60.26 % 0.02 s GPU @ 2.5 Ghz (Python + C/C++)
Z. Liang, Z. Zhang, M. Zhang, X. Zhao and S. Pu: RangeIoUDet: Range Image Based Real-Time 3D Object Detector Optimized by Intersection Over Union. CVPR 2021.
27 SGDA3D 67.55 % 82.10 % 60.70 % 0.07 s 1 core @ 2.5 Ghz (Python)
28 Anomynous 67.53 % 83.37 % 60.58 % 0.09 s 1 core @ 2.5 Ghz (C/C++)
29 Anomynous 67.53 % 83.37 % 60.58 % 0.09 s 1 core @ 2.5 Ghz (C/C++)
30 3SNet 67.52 % 81.09 % 60.34 % 0.07 s GPU @ 2.5 Ghz (Python)
31 DCAN-Second code 67.50 % 84.90 % 60.78 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
32 MPFusion 67.17 % 83.96 % 60.37 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
33 SPG_mini
This method makes use of Velodyne laser scans.
 code 66.96 % 80.21 % 60.50 % 0.09 s GPU @ 2.5 Ghz (Python)
Q. Xu, Y. Zhou, W. Wang, C. Qi and D. Anguelov: SPG: Unsupervised Domain Adaptation for 3D Object Detection via Semantic Point Generation. Proceedings of the IEEE conference on computer vision and pattern recognition (ICCV) 2021.
34 POP-RCNN 66.96 % 84.01 % 60.23 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
35 RangeRCNN++ code 66.95 % 83.31 % 60.40 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
36 M3DeTR code 66.74 % 83.83 % 59.03 % n/a s GPU @ 1.0 Ghz (Python)
T. Guan, J. Wang, S. Lan, R. Chandra, Z. Wu, L. Davis and D. Manocha: M3DeTR: Multi-representation, Multi- scale, Mutual-relation 3D Object Detection with Transformers. 2021.
37 ACDet code 66.61 % 83.80 % 59.99 % 0.05 s 1 core @ 2.5 Ghz (C/C++)
J. Xu, G. Wang, X. Zhang and G. Wan: ACDet: Attentive Cross-view Fusion for LiDAR-based 3D Object Detection. 3DV 2022.
38 Anonymous
This method makes use of Velodyne laser scans.
 66.46 % 82.62 % 60.09 % 0.05 s GPU @ 3.0 Ghz (Python + C/C++)
39 FV2P v2 66.38 % 83.53 % 59.92 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
40 IA-SSD (single) code 66.25 % 82.36 % 59.70 % 0.013 s 1 core @ 2.5 Ghz (C/C++)
Y. Zhang, Q. Hu, G. Xu, Y. Ma, J. Wan and Y. Guo: Not All Points Are Equal: Learning Highly Efficient Point-based Detectors for 3D LiDAR Point Clouds. CVPR 2022.
41 Anonymous 66.14 % 82.06 % 58.06 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
42 DTSSD 66.12 % 80.61 % 60.10 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
43 DTSSD 66.12 % 80.96 % 59.50 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
44 HybridPillars 66.05 % 81.42 % 59.59 % 0.05 s 1 core @ 2.5 Ghz (C/C++)
45 CZY 65.97 % 82.86 % 58.33 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
46 HotSpotNet 65.95 % 82.59 % 59.00 % 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.
47 CZY_3917 65.64 % 80.45 % 58.48 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
48 MMF 65.39 % 80.82 % 59.10 % 1 s 1 core @ 2.5 Ghz (C/C++)
49 Fast-CLOCs 65.31 % 82.83 % 57.43 % 0.1 s GPU @ 2.5 Ghz (Python)
S. Pang, D. Morris and H. Radha: Fast-CLOCs: Fast Camera-LiDAR Object Candidates Fusion for 3D Object Detection. Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision (WACV) 2022.
50 ACCF 65.25 % 81.16 % 58.98 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
51 VGA-RCNN 65.19 % 79.70 % 58.52 % 0.07 s 1 core @ 2.5 Ghz (Python)
52 IKT3D
This method makes use of Velodyne laser scans.
 65.17 % 79.88 % 58.09 % 0.05 s 1 core @ 2.5 Ghz (Python)
53 F-ConvNet
This method makes use of Velodyne laser scans.
 code 65.07 % 81.98 % 56.54 % 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.
54 VPNetv2 64.91 % 82.05 % 58.13 % 0.1 s 1 core @ 2.5 Ghz (Python)
55 MVMM code 64.81 % 77.82 % 58.79 % 0.04 s GPU @ 2.5 Ghz (Python + C/C++)
56 DGT-Det3D code 64.80 % 78.06 % 58.08 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
57 IPS 64.62 % 80.78 % 58.09 % TBD s 1 core @ 2.5 Ghz (C/C++)
58 GS 64.37 % 79.17 % 57.47 % TBD s 1 core @ 2.5 Ghz (C/C++)
59 PEF code 64.25 % 80.60 % 56.47 % N/A s 1 core @ 2.5 Ghz (C/C++)
60 KPSCC code 64.12 % 77.56 % 57.95 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
61 3DSSD code 64.10 % 82.48 % 56.90 % 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.
62 VPFNet code 64.10 % 77.64 % 58.00 % 0.2 s 1 core @ 2.5 Ghz (C/C++)
C. Wang, H. Chen and L. Fu: VPFNet: Voxel-Pixel Fusion Network for Multi-class 3D Object Detection. 2021.
63 MVENet 63.96 % 76.57 % 57.89 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
64 STNet 63.80 % 80.11 % 56.37 % 0.60 s 1 core @ 2.5 Ghz (Python)
65 PointPainting
This method makes use of Velodyne laser scans.
 63.78 % 77.63 % 55.89 % 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.
66 U_RVRCNN_V2_1 63.74 % 77.85 % 57.06 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
67 MMLab PV-RCNN
This method makes use of Velodyne laser scans.
 code 63.71 % 78.60 % 57.65 % 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.
68 LightCPC code 63.71 % 80.15 % 56.66 % 0.02 s 1 core @ 2.5 Ghz (Python + C/C++)
69 WGVRF 63.58 % 78.81 % 57.27 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
70 NV-RCNN 63.57 % 80.12 % 56.18 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
71 MMLab-PartA^2
This method makes use of Velodyne laser scans.
 code 63.52 % 79.17 % 56.93 % 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.
72 Point-GNN
This method makes use of Velodyne laser scans.
 code 63.48 % 78.60 % 57.08 % 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.
73 MGAF-3DSSD code 63.43 % 80.64 % 55.15 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
J. Li, H. Dai, L. Shao and Y. Ding: Anchor-free 3D Single Stage Detector with Mask-Guided Attention for Point Cloud. MM '21: The 29th ACM International Conference on Multimedia (ACM MM) 2021.
74 FromVoxelToPoint code 63.41 % 81.49 % 56.40 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
J. Li, H. Dai, L. Shao and Y. Ding: From Voxel to Point: IoU-guided 3D Object Detection for Point Cloud with Voxel-to- Point Decoder. MM '21: The 29th ACM International Conference on Multimedia (ACM MM) 2021.
75 B2PE 63.18 % 76.71 % 56.16 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
76 RealSynthesis-SECOND 63.16 % 81.44 % 56.24 % 0.05 s 1 core @ 2.5 Ghz (Python)
77 P2V-RCNN 63.13 % 78.62 % 56.81 % 0.1 s 2 cores @ 2.5 Ghz (Python)
J. Li, S. Luo, Z. Zhu, H. Dai, A. Krylov, Y. Ding and L. Shao: P2V-RCNN: Point to Voxel Feature Learning for 3D Object Detection from Point Clouds. IEEE Access 2021.
78 PSA-SSD 62.87 % 76.36 % 56.99 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
79 H^23D R-CNN code 62.74 % 78.67 % 55.78 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
J. Deng, W. Zhou, Y. Zhang and H. Li: From Multi-View to Hollow-3D: Hallucinated Hollow-3D R-CNN for 3D Object Detection. IEEE Transactions on Circuits and Systems for Video Technology 2021.
80 U_PVRCNN_V2 62.50 % 75.08 % 55.32 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
81 TTT_SSD 62.42 % 76.07 % 56.39 % TBD s 1 core @ 2.5 Ghz (C/C++)
82 VPNet 62.38 % 77.56 % 55.92 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
83 SVGA-Net 62.28 % 78.58 % 54.88 % 0.03s 1 core @ 2.5 Ghz (Python + C/C++)
Q. He, Z. Wang, H. Zeng, Y. Zeng and Y. Liu: SVGA-Net: Sparse Voxel-Graph Attention Network for 3D Object Detection from Point Clouds. AAAI 2022.
84 AGS-SSD[la] 62.15 % 77.40 % 56.14 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
85 SRDL 62.02 % 77.35 % 55.52 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
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86 Faraway-Frustum
This method makes use of Velodyne laser scans.
 code 62.00 % 77.36 % 55.40 % 0.1 s GPU @ 2.5 Ghz (Python)
H. Zhang, D. Yang, E. Yurtsever, K. Redmill and U. Ozguner: Faraway-frustum: Dealing with lidar sparsity for 3D object detection using fusion. 2021 IEEE International Intelligent Transportation Systems Conference (ITSC) 2021.
87 DVFENet 62.00 % 78.73 % 55.18 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
Y. He, G. Xia, Y. Luo, L. Su, Z. Zhang, W. Li and P. Wang: DVFENet: Dual-branch Voxel Feature Extraction Network for 3D Object Detection. Neurocomputing 2021.
88 PVRCNN_8369 61.99 % 77.33 % 55.51 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
89 IA-SSD (multi) code 61.94 % 78.35 % 55.70 % 0.014 s 1 core @ 2.5 Ghz (C/C++)
Y. Zhang, Q. Hu, G. Xu, Y. Ma, J. Wan and Y. Guo: Not All Points Are Equal: Learning Highly Efficient Point-based Detectors for 3D LiDAR Point Clouds. CVPR 2022.
90 KPP3D code 61.85 % 76.43 % 55.78 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
91 PSA-Det3D 61.79 % 75.82 % 55.12 % 0.1 s GPU @ 2.5 Ghz (Python)
92 S-AT GCN 61.70 % 75.24 % 55.32 % 0.02 s GPU @ 2.0 Ghz (Python)
L. Wang, C. Wang, X. Zhang, T. Lan and J. Li: S-AT GCN: Spatial-Attention Graph Convolution Network based Feature Enhancement for 3D Object Detection. CoRR 2021.
93 SIF 61.61 % 77.13 % 55.11 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
P. An: SIF. Submitted to CVIU 2021.
94 ATT_SSD 61.61 % 77.19 % 55.62 % 0.01 s 1 core @ 2.5 Ghz (Python)
95 STD code 61.59 % 78.69 % 55.30 % 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.
96 HybridPillars (SSD) 61.49 % 76.32 % 55.77 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
97 GEO_LOC 61.37 % 75.64 % 55.22 % TBD s 1 core @ 2.5 Ghz (C/C++)
98 GS-FPS-LT 61.15 % 76.16 % 54.65 % TBD s 1 core @ 2.5 Ghz (C/C++)
99 SWA code 61.12 % 76.47 % 55.51 % 0.18 s 1 core @ 2.5 Ghz (C/C++)
100 GS-FPS code 60.44 % 77.36 % 54.49 % TBD s 1 core @ 2.5 Ghz (C/C++)
101 BASA 60.43 % 76.46 % 54.47 % 1s 1 core @ 2.5 Ghz (python)
102 AB3DMOT
This method makes use of Velodyne laser scans.
This is an online method (no batch processing).
 code 60.30 % 75.42 % 53.81 % 0.0047s 1 core @ 2.5 Ghz (Python)
X. Weng and K. Kitani: A Baseline for 3D Multi-Object Tracking. arXiv:1907.03961 2019.
103 OA-TSSD 60.03 % 76.09 % 53.43 % 20 s 8 cores @ 2.5 Ghz (C/C++)
104 EPNet++ 59.71 % 76.15 % 53.67 % 0.1 s GPU @ 2.5 Ghz (Python)
Z. Liu, T. Huang, B. Li, X. Chen, X. Wang and X. Bai: EPNet++: Cascade Bi-Directional Fusion for Multi-Modal 3D Object Detection. IEEE Transactions on Pattern Analysis and Machine Intelligence 2022.
105 R^2 R-CNN 59.63 % 78.75 % 53.35 % 0.1 s 1 core @ 2.5 Ghz (Python)
106 XView 59.55 % 77.24 % 53.47 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
L. Xie, G. Xu, D. Cai and X. He: X-view: Non-egocentric Multi-View 3D Object Detector. 2021.
107 TANet code 59.44 % 75.70 % 52.53 % 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.
108 IA-SSDx 59.19 % 72.96 % 53.47 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
109 DTE3D 59.12 % 76.99 % 52.97 % 0.15s 1 core @ 2.5 Ghz (C/C++)
110 EOTL code 58.96 % 75.20 % 50.41 % TBD s 1 core @ 2.5 Ghz (Python + C/C++)
111 MMLab-PointRCNN
This method makes use of Velodyne laser scans.
 code 58.82 % 74.96 % 52.53 % 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.
112 PointPillars
This method makes use of Velodyne laser scans.
 code 58.65 % 77.10 % 51.92 % 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.
113 variance_point 58.45 % 75.33 % 51.51 % 0.05 s 1 core @ 2.5 Ghz (Python)
114 ARPNET 58.20 % 74.21 % 52.13 % 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.
115 ZMMPP 58.03 % 71.72 % 51.89 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
116 AFTD 57.44 % 75.50 % 51.12 % 1 s 1 core @ 2.5 Ghz (Python + C/C++)
117 U_SECOND_V4 57.10 % 73.91 % 50.91 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
118 T_PVRCNN 56.26 % 70.51 % 49.90 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
119 3D-BCM 56.18 % 74.42 % 49.62 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
120 epBRM
This method makes use of Velodyne laser scans.
 code 56.13 % 72.08 % 49.91 % 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.
121 F-PointNet
This method makes use of Velodyne laser scans.
 code 56.12 % 72.27 % 49.01 % 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.
122 SECOND_7862 55.64 % 71.05 % 49.83 % 1 s 1 core @ 2.5 Ghz (Python)
123 CAD
This method uses stereo information.
This method makes use of Velodyne laser scans.
 55.39 % 70.98 % 48.81 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
124 T_PVRCNN_V2 55.29 % 69.58 % 49.22 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
125 Voxel-MAE+SECOND code 54.84 % 69.64 % 48.98 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
126 BirdNet+
This method makes use of Velodyne laser scans.
 code 53.84 % 65.67 % 49.06 % 0.11 s Titan Xp (PyTorch)
A. Barrera, J. Beltrán, C. Guindel, J. Iglesias and F. García: BirdNet+: Two-Stage 3D Object Detection in LiDAR through a Sparsity-Invariant Bird’s Eye View. IEEE Access 2021.
127 PointRGBNet 52.15 % 67.05 % 46.78 % 0.08 s 4 cores @ 2.5 Ghz (Python + C/C++)
P. Xie Desheng: Real-time Detection of 3D Objects Based on Multi-Sensor Information Fusion. Automotive Engineering 2022.
128 DMF
This method uses stereo information.
 51.33 % 65.51 % 45.05 % 0.2 s 1 core @ 2.5 Ghz (Python + C/C++)
X. J. Chen and W. Xu: Disparity-Based Multiscale Fusion Network for Transportation Detection. IEEE Transactions on Intelligent Transportation Systems 2022.
129 PiFeNet code 51.10 % 67.50 % 44.66 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
D. Le, H. Shi, H. Rezatofighi and J. Cai: Accurate and Real-time 3D Pedestrian Detection Using an Efficient Attentive Pillar Network. IEEE Robotics and Automation Letters 2022.
130 SCNet
This method makes use of Velodyne laser scans.
 50.79 % 67.98 % 45.15 % 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.
131 AVOD-FPN
This method makes use of Velodyne laser scans.
 code 50.55 % 63.76 % 44.93 % 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.
132 MLOD
This method makes use of Velodyne laser scans.
 code 49.43 % 68.81 % 42.84 % 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.
133 BirdNet+ (legacy)
This method makes use of Velodyne laser scans.
 code 47.72 % 67.38 % 42.89 % 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. 2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC) 2020.
134 PFF3D
This method makes use of Velodyne laser scans.
 code 46.78 % 63.27 % 41.37 % 0.05 s GPU @ 3.0 Ghz (Python + C/C++)
L. Wen and K. Jo: Fast and Accurate 3D Object Detection for Lidar-Camera-Based Autonomous Vehicles Using One Shared Voxel-Based Backbone. IEEE Access 2021.
135 CZY 45.32 % 59.97 % 40.44 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
136 StereoDistill 44.02 % 63.96 % 39.19 % 0.4 s 1 core @ 2.5 Ghz (Python)
Z. Liu, X. Ye, X. Tan, D. Errui, Y. Zhou and X. Bai: StereoDistill: Pick the Cream from LiDAR for Distilling Stereo-based 3D Object Detection. Proceedings of the AAAI Conference on Artificial Intelligence 2023.
137 DSGN++
This method uses stereo information.
 code 43.90 % 62.82 % 39.21 % 0.2 s GeForce RTX 2080Ti
Y. Chen, S. Huang, S. Liu, B. Yu and J. Jia: DSGN++: Exploiting Visual-Spatial Relation for Stereo-Based 3D Detectors. IEEE Transactions on Pattern Analysis and Machine Intelligence 2022.
138 AVOD
This method makes use of Velodyne laser scans.
 code 42.08 % 57.19 % 38.29 % 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.
139 SparsePool code 37.33 % 52.61 % 33.39 % 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.
140 MMLAB LIGA-Stereo
This method uses stereo information.
 code 36.86 % 54.44 % 32.06 % 0.4 s 1 core @ 2.5 Ghz (Python + C/C++)
X. Guo, S. Shi, X. Wang and H. Li: LIGA-Stereo: Learning LiDAR Geometry Aware Representations for Stereo-based 3D Detector. Proceedings of the IEEE/CVF International Conference on Computer Vision (ICCV) 2021.
141 SparsePool code 32.61 % 40.87 % 29.05 % 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.
142 CG-Stereo
This method uses stereo information.
 30.89 % 47.40 % 27.23 % 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.
143 Pseudo-Stereo++ 30.75 % 47.77 % 26.67 % 0.4 s 1 core @ 2.5 Ghz (Python + C/C++)
144 BirdNet
This method makes use of Velodyne laser scans.
 30.25 % 43.98 % 27.21 % 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.
145 PS++ 28.66 % 44.45 % 24.96 % 0.4 s 1 core @ 2.5 Ghz (C/C++)
146 Disp R-CNN (velo)
This method uses stereo information.
 code 24.40 % 40.05 % 21.12 % 0.387 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.
147 Disp R-CNN
This method uses stereo information.
 code 24.40 % 40.04 % 21.12 % 0.387 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.
148 Complexer-YOLO
This method makes use of Velodyne laser scans.
 18.53 % 24.27 % 17.31 % 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.
149 DSGN
This method uses stereo information.
 code 18.17 % 27.76 % 16.21 % 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.
150 OC Stereo
This method uses stereo information.
 code 16.63 % 29.40 % 14.72 % 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.
151 RT3D-GMP
This method uses stereo information.
 12.99 % 18.31 % 10.63 % 0.06 s GPU @ 2.5 Ghz (Python + C/C++)
H. Königshof and C. Stiller: Learning-Based Shape Estimation with Grid Map Patches for Realtime 3D Object Detection for Automated Driving. 2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC) 2020.
152 ESGN
This method uses stereo information.
 7.69 % 13.84 % 6.75 % 0.06 s GPU @ 2.5 Ghz (Python + C/C++)
A. Gao, Y. Pang, J. Nie, Z. Shao, J. Cao, Y. Guo and X. Li: ESGN: Efficient Stereo Geometry Network for Fast 3D Object Detection. IEEE Transactions on Circuits and Systems for Video Technology 2022.
153 CMKD code 6.67 % 12.52 % 6.34 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
Y. Hong, H. Dai and Y. Ding: Cross-Modality Knowledge Distillation Network for Monocular 3D Object Detection. ECCV 2022.
154 PS-fld code 6.18 % 11.22 % 5.21 % 0.25 s 1 core @ 2.5 Ghz (C/C++)
Y. Chen, H. Dai and Y. Ding: Pseudo-Stereo for Monocular 3D Object Detection in Autonomous Driving. Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2022.
155 Anonymous 5.74 % 9.52 % 4.66 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
156 DD3Dv2 code 5.68 % 8.79 % 4.75 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
157 BSM3D 5.61 % 9.45 % 4.81 % 0.03 s 1 core @ 2.5 Ghz (Python)
158 MonoLiG 5.24 % 8.14 % 4.45 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
159 BAIR 4.97 % 8.17 % 4.62 % 0.04 s 1 core @ 2.5 Ghz (Python)
160 Mix-Teaching code 4.91 % 8.04 % 4.15 % 30 s 1 core @ 2.5 Ghz (C/C++)
L. Yang, X. Zhang, L. Wang, M. Zhu, C. Zhang and J. Li: Mix-Teaching: A Simple, Unified and Effective Semi-Supervised Learning Framework for Monocular 3D Object Detection. ArXiv 2022.
161 DD3D code 4.79 % 7.52 % 4.22 % n/a s 1 core @ 2.5 Ghz (C/C++)
D. Park, R. Ambrus, V. Guizilini, J. Li and A. Gaidon: Is Pseudo-Lidar needed for Monocular 3D Object detection?. IEEE/CVF International Conference on Computer Vision (ICCV) .
162 MonoPSR code 4.74 % 8.37 % 3.68 % 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.
163 DD3D-dequity 4.61 % 7.32 % 4.10 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
164 TopNet-UncEst
This method makes use of Velodyne laser scans.
 4.54 % 7.13 % 3.81 % 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.
165 LPCG-Monoflex code 4.38 % 6.98 % 3.56 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
L. Peng, F. Liu, Z. Yu, S. Yan, D. Deng, Z. Yang, H. Liu and D. Cai: Lidar Point Cloud Guided Monocular 3D Object Detection. ECCV 2022.
166 MonoLSS 4.34 % 7.23 % 3.92 % 0.04 s 1 core @ 2.5 Ghz (Python)
167 DEPT 4.29 % 7.67 % 3.33 % 0.03 s 1 core @ 2.5 Ghz (Python)
168 3DSeMoDLE code 4.24 % 7.04 % 3.56 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
169 Plane-Constraints 4.22 % 7.72 % 3.36 % 0.05 s 4 cores @ 3.0 Ghz (Python)
H. Yao, J. Chen, Z. Wang, X. Wang, X. Chai, Y. Qiu and P. Han: Vertex points are not enough: Monocular 3D object detection via intra-and inter-plane constraints. Neural Networks 2023.
170 MonoAD 4.22 % 6.59 % 3.52 % 0.03 s GPU @ 2.5 Ghz (Python)
171 MM3D 3.99 % 7.46 % 3.22 % NA s 1 core @ 2.5 Ghz (C/C++)
172 Anonymous 3.94 % 6.49 % 3.25 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
173 Shape-Aware 3.78 % 6.26 % 3.35 % 0.05 s 1 core @ 2.5 Ghz (Python)
174 MonoDDE 3.78 % 5.94 % 3.33 % 0.04 s 1 core @ 2.5 Ghz (Python)
Z. Li, Z. Qu, Y. Zhou, J. Liu, H. Wang and L. Jiang: Diversity Matters: Fully Exploiting Depth Clues for Reliable Monocular 3D Object Detection. CVPR 2022.
175 MonoATT_V2 code 3.68 % 5.74 % 2.94 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
176 DFR-Net 3.58 % 5.69 % 3.10 % 0.18 s 1080 Ti (Pytorch)
Z. Zou, X. Ye, L. Du, X. Cheng, X. Tan, L. Zhang, J. Feng, X. Xue and E. Ding: The devil is in the task: Exploiting reciprocal appearance-localization features for monocular 3d object detection . ICCV 2021.
177 OccupancyM3D 3.56 % 7.37 % 2.84 % 0.11 s 1 core @ 2.5 Ghz (C/C++)
178 BCA 3.54 % 5.89 % 3.34 % 0.17 s GPU @ 2.5 Ghz (Python)
179 HomoLoss(monoflex) code 3.50 % 5.48 % 2.99 % 0.04 s 1 core @ 2.5 Ghz (Python)
J. Gu, B. Wu, L. Fan, J. Huang, S. Cao, Z. Xiang and X. Hua: Homography Loss for Monocular 3D Object Detection. Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2022.
180 OPA-3D code 3.45 % 5.16 % 2.86 % 0.04 s 1 core @ 3.5 Ghz (Python)
Y. Su, Y. Di, G. Zhai, F. Manhardt, J. Rambach, B. Busam, D. Stricker and F. Tombari: OPA-3D: Occlusion-Aware Pixel-Wise Aggregation for Monocular 3D Object Detection. IEEE Robotics and Automation Letters 2023.
181 CaDDN code 3.41 % 7.00 % 3.30 % 0.63 s GPU @ 2.5 Ghz (Python)
C. Reading, A. Harakeh, J. Chae and S. Waslander: Categorical Depth Distribution Network for Monocular 3D Object Detection. CVPR 2021.
182 MonoInsight 3.37 % 5.94 % 3.22 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
183 RT3DStereo
This method uses stereo information.
 3.37 % 5.29 % 2.57 % 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.
184 MonoDTR 3.27 % 5.05 % 3.19 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
K. Huang, T. Wu, H. Su and W. Hsu: MonoDTR: Monocular 3D Object Detection with Depth-Aware Transformer. CVPR 2022.
185 GUPNet code 3.21 % 5.58 % 2.66 % NA s 1 core @ 2.5 Ghz (Python + C/C++)
Y. Lu, X. Ma, L. Yang, T. Zhang, Y. Liu, Q. Chu, J. Yan and W. Ouyang: Geometry Uncertainty Projection Network for Monocular 3D Object Detection. arXiv preprint arXiv:2107.13774 2021.
186 MonoAug 3.15 % 5.22 % 2.67 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
187 DEVIANT code 3.13 % 5.05 % 2.59 % 0.04 s 1 GPU (Python)
A. Kumar, G. Brazil, E. Corona, A. Parchami and X. Liu: DEVIANT: Depth EquiVarIAnt NeTwork for Monocular 3D Object Detection. European Conference on Computer Vision (ECCV) 2022.
188 CIE 3.09 % 5.62 % 2.80 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
Anonymities: Consistency of Implicit and Explicit Features Matters for Monocular 3D Object Detection. arXiv preprint arXiv:2207.07933 2022.
189 SparseLiDAR_fusion 3.02 % 5.89 % 2.50 % 0.08 s 1 core @ 2.5 Ghz (C/C++)
190 MoGDE 2.94 % 5.08 % 2.74 % 0.03 s GPU @ 2.5 Ghz (Python)
191 SGM3D code 2.92 % 5.49 % 2.64 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
Z. Zhou, L. Du, X. Ye, Z. Zou, X. Tan, L. Zhang, X. Xue and J. Feng: SGM3D: Stereo Guided Monocular 3D Object Detection. RA-L 2022.
192 AMNet 2.79 % 4.30 % 2.51 % 0.03 s GPU @ 1.0 Ghz (Python)
193 DCD code 2.74 % 4.72 % 2.41 % 1 s 1 core @ 2.5 Ghz (C/C++)
194 MDSNet 2.68 % 5.37 % 2.22 % 0.05 s 1 core @ 2.5 Ghz (Python)
Z. Xie, Y. Song, J. Wu, Z. Li, C. Song and Z. Xu: MDS-Net: Multi-Scale Depth Stratification 3D Object Detection from Monocular Images. Sensors 2022.
195 monodle code 2.66 % 4.59 % 2.45 % 0.04 s GPU @ 2.5 Ghz (Python)
X. Ma, Y. Zhang, D. Xu, D. Zhou, S. Yi, H. Li and W. Ouyang: Delving into Localization Errors for Monocular 3D Object Detection. CVPR 2021 .
196 DDMP-3D 2.50 % 4.18 % 2.32 % 0.18 s 1 core @ 2.5 Ghz (Python)
L. Wang, L. Du, X. Ye, Y. Fu, G. Guo, X. Xue, J. Feng and L. Zhang: Depth-conditioned Dynamic Message Propagation for Monocular 3D Object Detection. CVPR 2020.
197 MonoNeRD 2.48 % 4.73 % 2.16 % na s 1 core @ 2.5 Ghz (C/C++)
198 Aug3D-RPN 2.43 % 4.36 % 2.55 % 0.08 s 1 core @ 2.5 Ghz (C/C++)
C. He, J. Huang, X. Hua and L. Zhang: Aug3D-RPN: Improving Monocular 3D Object Detection by Synthetic Images with Virtual Depth. 2021.
199 MonoXiver 2.41 % 3.62 % 2.04 % 0.03s GPU @ 2.5 Ghz (Python)
200 QD-3DT
This is an online method (no batch processing).
 code 2.39 % 4.16 % 1.85 % 0.03 s GPU @ 2.5 Ghz (Python)
H. Hu, Y. Yang, T. Fischer, F. Yu, T. Darrell and M. Sun: Monocular Quasi-Dense 3D Object Tracking. ArXiv:2103.07351 2021.
201 MonoFlex 2.35 % 4.17 % 2.04 % 0.03 s GPU @ 2.5 Ghz (Python)
Y. Zhang, J. Lu and J. Zhou: Objects are Different: Flexible Monocular 3D Object Detection. CVPR 2021.
202 M3DGAF 2.30 % 4.28 % 2.12 % 0.07 s 1 core @ 2.5 Ghz (Python)
203 Mono3DMethod 2.30 % 3.79 % 2.01 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
204 MonoA^2 2.28 % 4.39 % 2.31 % na s 1 core @ 2.5 Ghz (C/C++)
205 MonoAug 2.23 % 3.68 % 1.69 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
206 MonoPair 2.12 % 3.79 % 1.83 % 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.
207 MonoPCNS 2.09 % 4.07 % 2.12 % 0.14 s GPU @ 2.5 Ghz (Python)
208 RefinedMPL 1.82 % 3.23 % 1.77 % 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.
209 MonoRCNN++ code 1.81 % 3.17 % 1.75 % 0.07 s GPU @ 2.5 Ghz (Python)
X. Shi, Z. Chen and T. Kim: Multivariate Probabilistic Monocular 3D Object Detection. WACV 2023.
210 TopNet-HighRes
This method makes use of Velodyne laser scans.
 1.67 % 2.49 % 1.88 % 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.
211 D4LCN code 1.67 % 2.45 % 1.36 % 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.
212 FMF-occlusion-net 1.60 % 1.87 % 1.66 % 0.16 s 1 core @ 2.5 Ghz (Python + C/C++)
H. Liu, H. Liu, Y. Wang, F. Sun and W. Huang: Fine-grained Multi-level Fusion for Anti- occlusion Monocular 3D Object Detection. IEEE Transactions on Image Processing 2022.
213 SS3D 1.45 % 2.80 % 1.35 % 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.
214 PGD-FCOS3D code 1.38 % 2.81 % 1.20 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
T. Wang, X. Zhu, J. Pang and D. Lin: Probabilistic and Geometric Depth: Detecting Objects in Perspective. Conference on Robot Learning (CoRL) 2021.
215 UNM3D 1.17 % 1.76 % 1.07 % na s 1 core @ 2.5 Ghz (C/C++)
216 MM3DV2 1.16 % 1.93 % 1.17 % NA s 1 core @ 2.5 Ghz (C/C++)
217 CMAN 1.05 % 1.59 % 1.11 % 0.15 s 1 core @ 2.5 Ghz (Python)
C. Yuanzhouhan Cao: CMAN: Leaning Global Structure Correlation for Monocular 3D Object Detection. IEEE Trans. Intell. Transport. Syst. 2022.
218 MonoEF 0.92 % 1.80 % 0.71 % 0.03 s 1 core @ 2.5 Ghz (Python)
Y. Zhou, Y. He, H. Zhu, C. Wang, H. Li and Q. Jiang: Monocular 3D Object Detection: An Extrinsic Parameter Free Approach. Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2021.
219 M3D-RPN code 0.65 % 0.94 % 0.47 % 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 .
220 MonoRUn code 0.61 % 1.01 % 0.48 % 0.07 s GPU @ 2.5 Ghz (Python + C/C++)
H. Chen, Y. Huang, W. Tian, Z. Gao and L. Xiong: MonoRUn: Monocular 3D Object Detection by Reconstruction and Uncertainty Propagation. IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2021.
221 Shift R-CNN (mono) code 0.29 % 0.48 % 0.31 % 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.
222 mBoW
This method makes use of Velodyne laser scans.
 0.00 % 0.00 % 0.00 % 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.
Table as LaTeX | Only published Methods

Related Datasets

Citation

When using this dataset in your research, we will be happy if you cite us:
@INPROCEEDINGS{Geiger2012CVPR,
  author = {Andreas Geiger and Philip Lenz and Raquel Urtasun},
  title = {Are we ready for Autonomous Driving? The KITTI Vision Benchmark Suite},
  booktitle = {Conference on Computer Vision and Pattern Recognition (CVPR)},
  year = {2012}
}



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