The KITTI Vision Benchmark Suite

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

• Download left color images of object data set (12 GB)
• Download right color images, if you want to use stereo information (12 GB)
• Download the 3 temporally preceding frames (left color) (36 GB)
• Download the 3 temporally preceding frames (right color) (36 GB)
• Download Velodyne point clouds, if you want to use laser information (29 GB)
• Download camera calibration matrices of object data set (16 MB)
• Download training labels of object data set (5 MB)
• Download object development kit (1 MB) (including 3D object detection and bird's eye view evaluation code)
• Download pre-trained LSVM baseline models (5 MB) used in Joint 3D Estimation of Objects and Scene Layout (NIPS 2011). These models are referred to as LSVM-MDPM-sv (supervised version) and LSVM-MDPM-us (unsupervised version) in the tables below.
• Download reference detections (L-SVM) for training and test set (800 MB)
• Qianli Liao (NYU) has put together code to convert from KITTI to PASCAL VOC file format (documentation included, requires Emacs).
• Karl Rosaen (U.Mich) has released code to convert between KITTI, KITTI tracking, Pascal VOC, Udacity, CrowdAI and AUTTI formats.

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

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

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

Car

	Method	Setting	Code	Moderate	Easy	Hard	Runtime	Environment
1	ViKIENet			98.06 %	98.63 %	93.21 %	0.04 s	1 core @ 2.5 Ghz (C/C++)
2	LVP			97.84 %	98.70 %	93.07 %	0.04 s	1 core @ 2.5 Ghz (C/C++)
Y. Chen, G. Cai, Z. Song, Z. Liu, B. Zeng, J. Li and Z. Wang: LVP: Leverage Virtual Points in Multi- modal Early Fusion for 3D Object Detection. IEEE Transactions on Geoscience and Remote Sensing 2024.
3	SCEMF			97.61 %	98.64 %	94.63 %	1 s	1 core @ 2.5 Ghz (C/C++)
4	UDeerPEP		code	97.57 %	98.42 %	95.08 %	0.1 s	1 core @ 2.5 Ghz (C/C++)
Z. Dong, H. Ji, X. Huang, W. Zhang, X. Zhan and J. Chen: PeP: a Point enhanced Painting method for unified point cloud tasks. 2023.
5	ViKIENet-R			97.40 %	95.89 %	92.63 %	0.06 s	1 core @ 2.5 Ghz (C/C++)
6	RM3D			97.35 %	95.93 %	92.67 %	0.18 s	1 core @ 2.5 Ghz (C/C++)
7	VirConv-S		code	97.27 %	98.00 %	94.53 %	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.
8	MuStD			97.21 %	97.91 %	94.04 %	67 ms	>8 cores @ 2.5 Ghz (Python)
9	GraR-VoI		code	96.38 %	96.81 %	91.20 %	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.
10	VirConv-T		code	96.38 %	98.93 %	93.56 %	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.
11	LumiNet		code	96.27 %	99.23 %	88.94 %	0.1 s	1 core @ 2.5 Ghz (Python)
12	LPFusion			96.20 %	96.73 %	93.33 %	0.1 s	1 core @ 2.5 Ghz (C/C++)
13	GraR-Po		code	96.18 %	96.84 %	91.11 %	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.
14	SFD		code	96.17 %	98.97 %	91.13 %	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.
15	MLF-DET			96.17 %	96.89 %	88.90 %	0.09 s	1 core @ 2.5 Ghz (C/C++)
Z. Lin, Y. Shen, S. Zhou, S. Chen and N. Zheng: MLF-DET: Multi-Level Fusion for Cross- Modal 3D Object Detection. International Conference on Artificial Neural Networks 2023.
16	VPFNet		code	96.15 %	96.64 %	91.14 %	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.
17	LPFusion_three_class			96.07 %	98.74 %	93.27 %	0.1 s	1 core @ 2.5 Ghz (C/C++)
18	CLOCs		code	96.07 %	96.77 %	91.11 %	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.
19	ACFNet			96.06 %	96.68 %	93.36 %	0.11 s	1 core @ 2.5 Ghz (C/C++)
Y. Tian, X. Zhang, X. Wang, J. Xu, J. Wang, R. Ai, W. Gu and W. Ding: ACF-Net: Asymmetric Cascade Fusion for 3D Detection With LiDAR Point Clouds and Images. IEEE Transactions on Intelligent Vehicles 2023.
20	RDIoU		code	96.05 %	98.79 %	91.03 %	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.
21	GraR-Vo		code	96.05 %	96.67 %	93.01 %	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.
22	SFD++			96.03 %	98.91 %	93.23 %	0.06 s	1 core @ 2.5 Ghz (C/C++)
23	TED		code	96.03 %	96.64 %	93.35 %	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.
24	BFT3D			96.03 %	96.98 %	88.81 %	0.15 s	1 core @ 2.5 Ghz (C/C++)
25	CLOCs_PVCas		code	95.96 %	96.76 %	91.08 %	0.1 s	1 core @ 2.5 Ghz (Python)
S. Pang, D. Morris and H. Radha: CLOCs: Camera-LiDAR Object Candidates Fusion for 3D Object Detection . 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2020.
26	PVT-SSD			95.90 %	96.75 %	90.69 %	0.05 s	1 core @ 2.5 Ghz (Python + C/C++)
H. Yang, W. Wang, M. Chen, B. Lin, T. He, H. Chen, X. He and W. Ouyang: PVT-SSD: Single-Stage 3D Object Detector with Point-Voxel Transformer. CVPR 2023.
27	UPIDet		code	95.89 %	96.25 %	93.25 %	0.11 s	1 core @ 2.5 Ghz (C/C++)
Y. Zhang, Q. Zhang, J. Hou, Y. Yuan and G. Xing: Unleash the Potential of Image Branch for Cross-modal 3D Object Detection. Thirty-seventh Conference on Neural Information Processing Systems 2023.
28	GraR-Pi		code	95.89 %	98.59 %	92.85 %	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.
29	MPCF		code	95.87 %	98.95 %	90.98 %	0.08 s	1 core @ 2.5 Ghz (C/C++)
P. Gao and P. Zhang: MPCF: Multi-Phase Consolidated Fusion for Multi-Modal 3D Object Detection with Pseudo Point Cloud. 2024.
30	OcTr			95.84 %	96.48 %	90.99 %	0.06 s	GPU @ 2.5 Ghz (Python + C/C++)
C. Zhou, Y. Zhang, J. Chen and D. Huang: OcTr: Octree-based Transformer for 3D Object Detection. CVPR 2023.
31	3D Dual-Fusion		code	95.82 %	96.54 %	93.11 %	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.
32	GLENet-VR		code	95.81 %	96.85 %	90.91 %	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. International Journal of Computer Vision 2023. Y. Zhang, J. Hou and Y. Yuan: A Comprehensive Study of the Robustness for LiDAR-based 3D Object Detectors against Adversarial Attacks. International Journal of Computer Vision 2023.
33	mm3d			95.81 %	96.89 %	90.92 %	0.2 s	1 core @ 2.5 Ghz (C/C++)
34	TSSTDet			95.81 %	96.65 %	93.05 %	0.08 s	1 core @ 2.5 Ghz (C/C++)
H. Hoang, D. Bui and M. Yoo: TSSTDet: Transformation-Based 3-D Object Detection via a Spatial Shape Transformer. IEEE Sensors Journal 2024.
35	R2Pfusion-Det			95.79 %	96.53 %	93.20 %	0.3 s	1 core @ 2.5 Ghz (C/C++)
36	DVF-V			95.77 %	96.60 %	90.89 %	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.
37	Fast-CLOCs			95.75 %	96.69 %	90.95 %	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.
38	TRTConv-L			95.73 %	96.58 %	92.97 %	0.01 s	1 core @ 2.5 Ghz (C/C++)
ERROR: Wrong syntax in BIBTEX file.
39	3D HANet		code	95.73 %	98.61 %	92.96 %	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.
40	DSGN++		code	95.70 %	98.08 %	88.27 %	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.
41	LCANet			95.66 %	96.56 %	93.06 %	1 s	1 core @ 2.5 Ghz (C/C++)
42	mat3D			95.64 %	98.83 %	93.00 %	0.2 s	1 core @ 2.5 Ghz (C/C++)
43	CasA		code	95.62 %	96.52 %	92.86 %	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.
44	BADet		code	95.61 %	98.75 %	90.64 %	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.
45	SE-SSD		code	95.60 %	96.69 %	90.53 %	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.
46	FARP-Net		code	95.57 %	96.11 %	93.07 %	0.06 s	GPU @ 2.5 Ghz (Python + C/C++)
T. Xie, L. Wang, K. Wang, R. Li, X. Zhang, H. Zhang, L. Yang, H. Liu and J. Li: FARP-Net: Local-Global Feature Aggregation and Relation-Aware Proposals for 3D Object Detection. IEEE Transactions on Multimedia 2023.
47	LoGoNet		code	95.55 %	96.60 %	93.07 %	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.
48	GD-MAE			95.54 %	98.38 %	90.42 %	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.
49	ECA			95.50 %	98.11 %	92.79 %	0.08 s	GPU @ 1.5 Ghz (Python)
50	DVF-PV			95.49 %	96.42 %	92.57 %	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.
51	BVPConv-T			95.48 %	96.32 %	92.91 %	0.05 s	1 core @ 2.5 Ghz (Python + C/C++)
ERROR: Wrong syntax in BIBTEX file.
52	HS-fusion			95.48 %	98.33 %	92.66 %	- s	1 core @ 2.5 Ghz (Python)
ERROR: Wrong syntax in BIBTEX file.
53	SpaA			95.47 %	96.18 %	92.78 %	0.1 s	1 core @ 2.5 Ghz (C/C++)
54	SPANet			95.46 %	96.54 %	90.47 %	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.
55	PG-RCNN		code	95.40 %	96.66 %	90.55 %	0.06 s	GPU @ 1.5 Ghz (Python)
I. Koo, I. Lee, S. Kim, H. Kim, W. Jeon and C. Kim: PG-RCNN: Semantic Surface Point Generation for 3D Object Detection. 2023.
56	c2f			95.39 %	96.25 %	92.65 %	1 s	1 core @ 2.5 Ghz (C/C++)
57	FIRM-Net_SCF+			95.38 %	96.31 %	92.71 %	0.07 s	1 core @ 2.5 Ghz (Python)
58	SCDA-Net			95.37 %	98.62 %	92.90 %	- s	1 core @ 2.5 Ghz (C/C++)
59	FIRM-Net-SCF			95.36 %	96.30 %	92.69 %	0.07 s	1 core @ 2.5 Ghz (Python)
60	SASA		code	95.35 %	96.01 %	92.53 %	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.
61	SPG_mini		code	95.32 %	96.23 %	92.68 %	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.
62	EQ-PVRCNN		code	95.32 %	98.23 %	92.65 %	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.
63	TRTConv-T			95.31 %	98.38 %	92.69 %	0.04 s	1 core @ 2.5 Ghz (Python + C/C++)
ERROR: Wrong syntax in BIBTEX file.
64	BVPConv-L			95.30 %	96.37 %	92.76 %	0.01 s	1 core @ 2.5 Ghz (Python + C/C++)
ERROR: Wrong syntax in BIBTEX file.
65	Focals Conv		code	95.28 %	96.30 %	92.69 %	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.
66	CasA++		code	95.28 %	95.83 %	94.28 %	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.
67	VoxSeT		code	95.23 %	96.16 %	90.49 %	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.
68	voxel-rcnn+++		code	95.22 %	96.40 %	92.37 %	0.08 s	GPU @ 2.5 Ghz (Python)
69	PC-CNN-V2			95.20 %	96.06 %	89.37 %	0.5 s	GPU @ 2.5 Ghz (Matlab + C/C++)
X. Du, M. Ang, S. Karaman and D. Rus: A General Pipeline for 3D Detection of Vehicles. 2018 IEEE International Conference on Robotics and Automation (ICRA) 2018.
70	RagNet3D		code	95.17 %	96.27 %	92.66 %	0.05 s	1 core @ 2.5 Ghz (C/C++)
J. Chen, Y. Han, Z. Yan, J. Qian, J. Li and J. Yang: Ragnet3d: Learning Distinguishable Representation for Pooled Grids in 3d Object Detection. Available at SSRN 4979473 .
71	VPFNet		code	95.17 %	96.06 %	92.66 %	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. C. Wang, H. Chen, Y. Chen, P. Hsiao and L. Fu: VoPiFNet: Voxel-Pixel Fusion Network for Multi-Class 3D Object Detection. IEEE Transactions on Intelligent Transportation Systems 2024.
72	F-PointNet		code	95.17 %	95.85 %	85.42 %	0.17 s	GPU @ 3.0 Ghz (Python)
C. Qi, W. Liu, C. Wu, H. Su and L. Guibas: Frustum PointNets for 3D Object Detection from RGB-D Data. arXiv preprint arXiv:1711.08488 2017.
73	EPNet++			95.17 %	96.73 %	92.10 %	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.
74	SA-SSD		code	95.16 %	97.92 %	90.15 %	0.04 s	1 core @ 2.5 Ghz (Python)
C. He, H. Zeng, J. Huang, X. Hua and L. Zhang: Structure Aware Single-stage 3D Object Detection from Point Cloud. CVPR 2020.
75	HMFI		code	95.16 %	96.29 %	92.45 %	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.
76	USVLab BSAODet		code	95.15 %	96.26 %	92.62 %	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	MPC3DNet			95.14 %	98.49 %	92.42 %	0.05 s	GPU @ 1.5 Ghz (Python)
78	Pyramid R-CNN			95.13 %	95.88 %	92.62 %	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.
79	Voxel R-CNN		code	95.11 %	96.49 %	92.45 %	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.
80	3DSSD		code	95.10 %	97.69 %	92.18 %	0.04 s	GPU @ 2.5 Ghz (Python + C/C++)
Z. Yang, Y. Sun, S. Liu and J. Jia: 3DSSD: Point-based 3D Single Stage Object Detector. CVPR 2020.
81	CAIA_PRO		code	95.09 %	95.72 %	90.44 %	0.01 s	1 core @ 2.5 Ghz (C/C++)
82	MonoSample (DID-M3D)		code	95.02 %	96.45 %	85.58 %	0.2 s	1 core @ 2.5 Ghz (C/C++)
J. Qiao, B. Liu, J. Yang, B. Wang, S. Xiu, X. Du and X. Nie: MonoSample: Synthetic 3D Data Augmentation Method in Monocular 3D Object Detection. IEEE Robotics and Automation Letters 2024.
83	PDV		code	95.00 %	96.07 %	92.44 %	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.
84	MVRA + I-FRCNN+			94.98 %	95.87 %	82.52 %	0.18 s	GPU @ 2.5 Ghz (Python)
H. Choi, H. Kang and Y. Hyun: Multi-View Reprojection Architecture for Orientation Estimation. The IEEE International Conference on Computer Vision (ICCV) Workshops 2019.
85	SVFMamba		code	94.97 %	95.54 %	92.24 %	N/A s	1 core @ 2.5 Ghz (C/C++)
86	SIENet		code	94.97 %	96.02 %	92.40 %	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	VoTr-TSD		code	94.94 %	95.97 %	92.44 %	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.
88	L-AUG			94.92 %	95.84 %	92.22 %	0.1 s	1 core @ 2.5 Ghz (C/C++)
T. Cortinhal, I. Gouigah and E. Aksoy: Semantics-aware LiDAR-Only Pseudo Point Cloud Generation for 3D Object Detection. 2023.
89	SQD		code	94.92 %	98.21 %	92.37 %	0.06 s	1 core @ 2.5 Ghz (C/C++)
Y. Mo, Y. Wu, J. Zhao, Z. Hou, W. Huang, Y. Hu, J. Wang and J. Yan: Sparse Query Dense: Enhancing 3D Object Detection with Pseudo Points. ACM MM Oral 2024.
90	GraphAlign(ICCV2023)		code	94.87 %	98.06 %	92.47 %	0.03 s	GPU @ 2.0 Ghz (Python)
Z. Song, H. Wei, L. Bai, L. Yang and C. Jia: GraphAlign: Enhancing accurate feature alignment by graph matching for multi-modal 3D object detection. Proceedings of the IEEE/CVF International Conference on Computer Vision 2023.
91	M3DeTR		code	94.83 %	97.39 %	92.10 %	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.
92	focal			94.83 %	95.91 %	92.48 %	100 s	1 core @ 2.5 Ghz (Python)
93	GEFPN			94.83 %	95.91 %	92.48 %	0.5 s	1 core @ 2.5 Ghz (C/C++)
94	GeVo			94.83 %	95.91 %	92.48 %	0.05 s	1 core @ 2.5 Ghz (C/C++)
95	StructuralIF			94.81 %	96.14 %	92.12 %	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.
96	MLFusion-VS			94.79 %	98.26 %	92.43 %	0.06 s	1 core @ 2.5 Ghz (C/C++)
97	AFFN-G			94.78 %	98.07 %	92.32 %	0.5 s	1 core @ 2.5 Ghz (C/C++)
98	XView			94.77 %	95.89 %	92.23 %	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.
99	AFFN			94.75 %	95.91 %	92.16 %	0.5 s	1 core @ 2.5 Ghz (C/C++)
100	P2V-RCNN			94.73 %	96.03 %	92.34 %	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.
101	SPG		code	94.71 %	97.80 %	92.19 %	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.
102	CAT-Det			94.71 %	95.97 %	92.07 %	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.
103	test			94.70 %	97.49 %	91.88 %	0.04 s	GPU @ 1.5 Ghz (Python + C/C++)
104	MMLab PV-RCNN		code	94.70 %	98.17 %	92.04 %	0.08 s	1 core @ 2.5 Ghz (Python + C/C++)
S. Shi, C. Guo, L. Jiang, Z. Wang, J. Shi, X. Wang and H. Li: PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detection. CVPR 2020.
105	SVGA-Net			94.67 %	96.05 %	91.86 %	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.
106	RangeDet (Official)		code	94.64 %	95.50 %	91.77 %	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.
107	DSA-PV-RCNN		code	94.64 %	95.86 %	92.10 %	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.
108	RangeIoUDet			94.61 %	95.74 %	91.98 %	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.
109	BVIFusion+			94.61 %	95.81 %	91.93 %	0.09 s	1 core @ 2.5 Ghz (Python)
110	PASS-PV-RCNN-Plus			94.59 %	95.79 %	92.10 %	1 s	1 core @ 2.5 Ghz (Python)
Anonymous: Leveraging Anchor-based LiDAR 3D Object Detection via Point Assisted Sample Selection. will submit to computer vision conference/journal 2024.
111	second_iou_baseline			94.58 %	95.75 %	91.96 %	0.03 s	1 core @ 2.5 Ghz (Python)
112	DVFENet			94.57 %	95.35 %	91.77 %	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.
113	HA-PillarNet			94.48 %	98.03 %	92.14 %	0.05 s	1 core @ 2.5 Ghz (Python)
114	TuSimple		code	94.47 %	95.12 %	86.45 %	1.6 s	GPU @ 2.5 Ghz (Python + C/C++)
F. Yang, W. Choi and Y. Lin: Exploit all the layers: Fast and accurate cnn object detector with scale dependent pooling and cascaded rejection classifiers. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition 2016. K. He, X. Zhang, S. Ren and J. Sun: Deep residual learning for image recognition. Proceedings of the IEEE conference on computer vision and pattern recognition 2016.
115	EPNet		code	94.44 %	96.15 %	89.99 %	0.1 s	1 core @ 2.5 Ghz (Python + C/C++)
T. Huang, Z. Liu, X. Chen and X. Bai: EPNet: Enhancing Point Features with Image Semantics for 3D Object Detection. ECCV 2020.
116	SFA_IGCL_Focalsconv*		code	94.44 %	95.92 %	92.18 %	0.2 s	1 core @ 2.5 Ghz (C/C++)
117	AFFN-Ga			94.44 %	95.80 %	92.02 %	0.5 s	1 core @ 2.5 Ghz (C/C++)
118	SERCNN			94.42 %	96.33 %	89.96 %	0.1 s	1 core @ 2.5 Ghz (Python)
D. Zhou, J. Fang, X. Song, L. Liu, J. Yin, Y. Dai, H. Li and R. Yang: Joint 3D Instance Segmentation and Object Detection for Autonomous Driving. Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition 2020.
119	dsvd+vx			94.30 %	95.09 %	91.51 %	0.1 s	1 core @ 2.5 Ghz (C/C++)
120	UberATG-MMF			94.25 %	97.41 %	89.87 %	0.08 s	GPU @ 2.5 Ghz (Python)
M. Liang*, B. Yang*, Y. Chen, R. Hu and R. Urtasun: Multi-Task Multi-Sensor Fusion for 3D Object Detection. CVPR 2019.
121	SRDL			94.24 %	95.86 %	91.80 %	0.05 s	1 core @ 2.5 Ghz (Python + C/C++)
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122	CGML			94.14 %	97.56 %	91.89 %	0.33 s	1 core @ 2.5 Ghz (C/C++)
123	Voxel RCNN-Focal*		code	94.14 %	95.62 %	91.99 %	0.2 s	1 core @ 2.5 Ghz (Python)
124	FocalsConv*			94.10 %	97.67 %	91.88 %	0.2 s	1 core @ 2.5 Ghz (C/C++)
125	HMNet			94.07 %	95.51 %	91.23 %	0.1 s	1 core @ 2.5 Ghz (C/C++)
126	LinkNet3D			94.05 %	95.44 %	91.32 %	0.05 s	GPU @ 3.5 Ghz (Python)
127	RangeRCNN			94.03 %	95.48 %	91.74 %	0.06 s	GPU @ 2.5 Ghz (Python + C/C++)
Z. Liang, M. Zhang, Z. Zhang, X. Zhao and S. Pu: RangeRCNN: Towards Fast and Accurate 3D Object Detection with Range Image Representation. arXiv preprint arXiv:2009.00206 2020.
128	SA V1			94.02 %	94.86 %	91.16 %	0.5 s	GPU @ 2.5 Ghz (Python)
129	Faraway-Frustum		code	93.99 %	95.81 %	91.72 %	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.
130	DD3D		code	93.99 %	94.69 %	89.37 %	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) .
131	MSMA V1			93.98 %	95.21 %	90.94 %	0.5 s	GPU @ 2.5 Ghz (Python)
132	SIF			93.95 %	95.51 %	91.57 %	0.1 s	1 core @ 2.5 Ghz (C/C++)
P. An: SIF. Submitted to CVIU 2021.
133	MGAF-3DSSD		code	93.87 %	94.45 %	86.37 %	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.
134	3ONet			93.87 %	96.97 %	88.84 %	0.1 s	1 core @ 2.5 Ghz (C/C++)
H. Hoang and M. Yoo: 3ONet: 3-D Detector for Occluded Object Under Obstructed Conditions. IEEE Sensors Journal 2023.
135	LPCG-Monoflex		code	93.86 %	96.90 %	83.94 %	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.
136	MMLAB LIGA-Stereo		code	93.82 %	96.43 %	86.19 %	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.
137	Sem-Aug			93.77 %	96.79 %	88.78 %	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.
138	Patches - EMP			93.75 %	97.91 %	90.56 %	0.5 s	GPU @ 2.5 Ghz (Python)
J. Lehner, A. Mitterecker, T. Adler, M. Hofmarcher, B. Nessler and S. Hochreiter: Patch Refinement: Localized 3D Object Detection. arXiv preprint arXiv:1910.04093 2019.
139	CIA-SSD		code	93.72 %	96.87 %	86.20 %	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.
140	QD-3DT		code	93.66 %	94.26 %	83.63 %	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.
141	MVAF-Net		code	93.66 %	95.37 %	90.90 %	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.
142	SSL-PointGNN		code	93.65 %	96.61 %	88.53 %	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.
143	PA3DNet			93.62 %	96.57 %	88.65 %	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.
144	IA-SSD (multi)		code	93.56 %	96.10 %	90.68 %	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	MonoLiG		code	93.56 %	96.70 %	83.74 %	0.03 s	1 core @ 2.5 Ghz (C/C++)
A. Hekimoglu, M. Schmidt and A. Ramiro: Monocular 3D Object Detection with LiDAR Guided Semi Supervised Active Learning. 2023.
146	MonoPair			93.55 %	96.61 %	83.55 %	0.06 s	GPU @ 2.5 Ghz (Python + C/C++)
Y. Chen, L. Tai, K. Sun and M. Li: MonoPair: Monocular 3D Object Detection Using Pairwise Spatial Relationships. The IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2020.
147	IA-SSD (single)		code	93.54 %	96.26 %	88.49 %	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.
148	EBM3DOD		code	93.54 %	96.81 %	88.33 %	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.
149	SeSame-point		code	93.50 %	95.22 %	90.44 %	N/A s	TITAN RTX @ 1.35 Ghz (Python)
H. O, C. Yang and K. Huh: SeSame: Simple, Easy 3D Object Detection with Point-Wise Semantics. Proceedings of the Asian Conference on Computer Vision (ACCV) 2024.
150	Deep MANTA			93.50 %	98.89 %	83.21 %	0.7 s	GPU @ 2.5 Ghz (Python + C/C++)
F. Chabot, M. Chaouch, J. Rabarisoa, C. Teulière and T. Chateau: Deep MANTA: A Coarse-to-fine Many-Task Network for joint 2D and 3D vehicle analysis from monocular image. CVPR 2017.
151	Point-GNN		code	93.50 %	96.58 %	88.35 %	0.6 s	GPU @ 2.5 Ghz (Python)
W. Shi and R. Rajkumar: Point-GNN: Graph Neural Network for 3D Object Detection in a Point Cloud. CVPR 2020.
152	BtcDet		code	93.47 %	96.23 %	88.55 %	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.
153	Struc info fusion II			93.45 %	96.72 %	88.31 %	0.05 s	GPU @ 2.5 Ghz (Python)
P. An, J. Liang, J. Ma, K. Yu and B. Fang: Struc info fusion. Submitted to CVIU 2021.
154	EBM3DOD baseline		code	93.45 %	96.72 %	88.25 %	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.
155	StereoDistill			93.43 %	97.61 %	87.71 %	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.
156	MonoAFKD			93.42 %	96.18 %	83.62 %	0.03 s	1 core @ 2.5 Ghz (C/C++)
157	MonoLSS			93.42 %	96.19 %	83.62 %	0.04 s	1 core @ 2.5 Ghz (Python)
Z. Li, J. Jia and Y. Shi: MonoLSS: Learnable Sample Selection For Monocular 3D Detection. International Conference on 3D Vision 2024.
158	RRC		code	93.40 %	95.68 %	87.37 %	3.6 s	GPU @ 2.5 Ghz (C/C++)
J. Ren, X. Chen, J. Liu, W. Sun, J. Pang, Q. Yan, Y. Tai and L. Xu: Accurate Single Stage Detector Using Recurrent Rolling Convolution. CVPR 2017.
159	AM			93.39 %	96.22 %	85.84 %	0.04 s	1 core @ 2.5 Ghz (C/C++)
160	GSG-FPS		code	93.38 %	95.73 %	90.49 %	0.01 s	1 core @ 2.5 Ghz (C/C++)
161	3D-CVF at SPA		code	93.36 %	96.78 %	86.11 %	0.06 s	1 core @ 2.5 Ghz (C/C++)
J. Yoo, Y. Kim, J. Kim and J. Choi: 3D-CVF: Generating Joint Camera and LiDAR Features Using Cross-View Spatial Feature Fusion for 3D Object Detection. ECCV 2020.
162	SNVC		code	93.32 %	96.33 %	85.81 %	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.
163	DFAF3D			93.32 %	96.58 %	90.24 %	0.05 s	1 core @ 2.5 Ghz (Python)
Q. Tang, X. Bai, J. Guo, B. Pan and W. Jiang: DFAF3D: A dual-feature-aware anchor-free single-stage 3D detector for point clouds. Image and Vision Computing 2023.
164	Struc info fusion I			93.31 %	96.59 %	88.23 %	0.05 s	1 core @ 2.5 Ghz (Python)
P. An, J. Liang, J. Ma, K. Yu and B. Fang: Struc info fusion. Submitted to CVIU 2021.
165	CityBrainLab-CT3D		code	93.30 %	96.28 %	90.58 %	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.
166	STD		code	93.22 %	96.14 %	90.53 %	0.08 s	GPU @ 2.5 Ghz (Python + C/C++)
Z. Yang, Y. Sun, S. Liu, X. Shen and J. Jia: STD: Sparse-to-Dense 3D Object Detector for Point Cloud. ICCV 2019.
167	SARPNET			93.21 %	96.07 %	88.09 %	0.05 s	1 core @ 2.5 Ghz (Python + C/C++)
Y. Ye, H. Chen, C. Zhang, X. Hao and Z. Zhang: SARPNET: Shape Attention Regional Proposal Network for LiDAR-based 3D Object Detection. Neurocomputing 2019.
168	R50_SACINet			93.20 %	95.84 %	90.38 %	0.06 s	1 core @ 2.5 Ghz (C/C++)
169	H^23D R-CNN		code	93.20 %	96.20 %	90.55 %	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.
170	Fast Point R-CNN			93.18 %	96.13 %	87.68 %	0.06 s	GPU @ 2.5 Ghz (Python + C/C++)
Y. Chen, S. Liu, X. Shen and J. Jia: Fast Point R-CNN. Proceedings of the IEEE international conference on computer vision (ICCV) 2019.
171	sensekitti		code	93.17 %	94.79 %	84.38 %	4.5 s	GPU @ 2.5 Ghz (Python + C/C++)
B. Yang, J. Yan, Z. Lei and S. Li: Craft Objects from Images. CVPR 2016.
172	SJTU-HW			93.11 %	96.30 %	82.21 %	0.85s	GPU @ 1.5 Ghz (Python + C/C++)
S. Zhang, X. Zhao, L. Fang, F. Haiping and S. Haitao: LED: LOCALIZATION-QUALITY ESTIMATION EMBEDDED DETECTOR. IEEE International Conference on Image Processing 2018. L. Fang, X. Zhao and S. Zhang: Small-objectness sensitive detection based on shifted single shot detector. Multimedia Tools and Applications 2018.
173	FromVoxelToPoint		code	93.06 %	96.08 %	90.53 %	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.
174	L_SACINet			93.01 %	95.66 %	88.18 %	0.04 s	1 core @ 2.5 Ghz (C/C++)
175	CLOCs_SecCas			92.95 %	95.43 %	89.21 %	0.1 s	1 core @ 2.5 Ghz (Python)
S. Pang, D. Morris and H. Radha: CLOCs: Camera-LiDAR Object Candidates Fusion for 3D Object Detection. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2020.
176	MonoCD		code	92.91 %	96.43 %	85.55 %	n/a s	1 core @ 2.5 Ghz (Python)
L. Yan, P. Yan, S. Xiong, X. Xiang and Y. Tan: MonoCD: Monocular 3D Object Detection with Complementary Depths. CVPR 2024.
177	Fade-kd			92.91 %	96.26 %	89.99 %	0.01 s	1 core @ 2.5 Ghz (C/C++)
178	ACDet		code	92.84 %	96.18 %	89.83 %	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.
179	HotSpotNet			92.81 %	96.21 %	89.80 %	0.04 s	1 core @ 2.5 Ghz (Python + C/C++)
Q. Chen, L. Sun, Z. Wang, K. Jia and A. Yuille: object as hotspots. Proceedings of the European Conference on Computer Vision (ECCV) 2020.
180	SecAtten			92.81 %	95.51 %	89.78 %	0.1 s	1 core @ 2.5 Ghz (C/C++)
181	SegVoxelNet			92.73 %	96.00 %	87.60 %	0.04 s	1 core @ 2.5 Ghz (Python)
H. Yi, S. Shi, M. Ding, J. Sun, K. Xu, H. Zhou, Z. Wang, S. Li and G. Wang: SegVoxelNet: Exploring Semantic Context and Depth-aware Features for 3D Vehicle Detection from Point Cloud. ICRA 2020.
182	Patches			92.72 %	96.34 %	87.63 %	0.15 s	GPU @ 2.0 Ghz
J. Lehner, A. Mitterecker, T. Adler, M. Hofmarcher, B. Nessler and S. Hochreiter: Patch Refinement: Localized 3D Object Detection. arXiv preprint arXiv:1910.04093 2019.
183	Cube R-CNN		code	92.72 %	95.78 %	84.81 %	0.05 s	GPU @ 2.5 Ghz (Python)
G. Brazil, A. Kumar, J. Straub, N. Ravi, J. Johnson and G. Gkioxari: Omni3D: A Large Benchmark and Model for 3D Object Detection in the Wild. CVPR 2023.
184	CenterNet3D			92.69 %	95.76 %	89.81 %	0.04 s	GPU @ 1.5 Ghz (Python)
G. Wang, B. Tian, Y. Ai, T. Xu, L. Chen and D. Cao: CenterNet3D:An Anchor free Object Detector for Autonomous Driving. 2020.
185	R-GCN			92.67 %	96.19 %	87.66 %	0.16 s	GPU @ 2.5 Ghz (Python)
J. Zarzar, S. Giancola and B. Ghanem: PointRGCN: Graph Convolution Networks for 3D Vehicles Detection Refinement. ArXiv 2019.
186	zqd_test			92.66 %	95.89 %	87.10 %	0.2 s	1 core @ 2.5 Ghz (Python)
187	PI-RCNN			92.66 %	96.17 %	87.68 %	0.1 s	1 core @ 2.5 Ghz (Python)
L. Xie, C. Xiang, Z. Yu, G. Xu, Z. Yang, D. Cai and X. He: PI-RCNN: An Efficient Multi-sensor 3D Object Detector with Point-based Attentive Cont-conv Fusion Module. AAAI 2020 : The Thirty-Fourth AAAI Conference on Artificial Intelligence 2020.
188	EAEPNet			92.66 %	96.32 %	87.72 %	0.1 s	1 core @ 2.5 Ghz (Python)
189	PointPainting			92.58 %	98.39 %	89.71 %	0.4 s	GPU @ 2.5 Ghz (Python + C/C++)
S. Vora, A. Lang, B. Helou and O. Beijbom: PointPainting: Sequential Fusion for 3D Object Detection. CVPR 2020.
190	Fade			92.55 %	97.71 %	87.50 %	0.01 s	1 core @ 2.5 Ghz (C/C++)
191	DensePointPillars			92.55 %	95.66 %	87.35 %	0.03 s	GPU @ 2.5 Ghz (Python)
192	DASS			92.53 %	96.23 %	87.75 %	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.
193	3D IoU-Net			92.47 %	96.31 %	87.67 %	0.1 s	1 core @ 2.5 Ghz (C/C++)
J. Li, S. Luo, Z. Zhu, H. Dai, S. Krylov, Y. Ding and L. Shao: 3D IoU-Net: IoU Guided 3D Object Detector for Point Clouds. arXiv preprint arXiv:2004.04962 2020.
194	Associate-3Ddet		code	92.45 %	95.61 %	87.32 %	0.05 s	1 core @ 2.5 Ghz (Python + C/C++)
L. Du, X. Ye, X. Tan, J. Feng, Z. Xu, E. Ding and S. Wen: Associate-3Ddet: Perceptual-to-Conceptual Association for 3D Point Cloud Object Detection. The IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2020.
195	S-AT GCN			92.44 %	95.06 %	90.78 %	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.
196	PointRGCN			92.33 %	97.51 %	87.07 %	0.26 s	GPU @ V100 (Python)
J. Zarzar, S. Giancola and B. Ghanem: PointRGCN: Graph Convolution Networks for 3D Vehicles Detection Refinement. ArXiv 2019.
197	Sem-Aug-PointRCNN++			92.32 %	95.65 %	87.62 %	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.
198	Harmonic PointPillar		code	92.25 %	95.16 %	89.11 %	0.01 s	1 core @ 2.5 Ghz (Python)
H. Zhang, J. Mekala, Z. Nain, 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.
199	F-ConvNet		code	92.19 %	95.85 %	80.09 %	0.47 s	GPU @ 2.5 Ghz (Python + C/C++)
Z. Wang and K. Jia: Frustum ConvNet: Sliding Frustums to Aggregate Local Point-Wise Features for Amodal 3D Object Detection. IROS 2019.
200	PFF3D		code	92.15 %	95.37 %	87.54 %	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.
201	geo-pillars			92.10 %	95.30 %	89.08 %	0.05 s	1 core @ 2.5 Ghz (C/C++)
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202	PASS-PointPillar			92.09 %	95.20 %	88.73 %	1 s	1 core @ 2.5 Ghz (C/C++)
Anonymous: Leveraging Anchor-based LiDAR 3D Object Detection via Point Assisted Sample Selection. will submit to computer vision conference/journal 2024.
203	Anonymous			92.05 %	94.55 %	89.00 %	0.02 s	GPU @ 2.5 Ghz (Python)
204	SDP+RPN			92.03 %	95.16 %	79.16 %	0.4 s	GPU @ 2.5 Ghz (Python + C/C++)
F. Yang, W. Choi and Y. Lin: Exploit All the Layers: Fast and Accurate CNN Object Detector with Scale Dependent Pooling and Cascaded Rejection Classifiers. Proceedings of the IEEE International Conference on Computer Vision and Pattern Recognition 2016. S. Ren, K. He, R. Girshick and J. Sun: Faster R-CNN: Towards real-time object detection with region proposal networks. Advances in Neural Information Processing Systems 2015.
205	AEPF			92.02 %	95.48 %	87.50 %	0.05 s	GPU @ 2.5 Ghz (Python)
206	AB3DMOT		code	92.00 %	95.88 %	86.98 %	0.0047s	1 core @ 2.5 Ghz (Python)
X. Weng and K. Kitani: A Baseline for 3D Multi-Object Tracking. arXiv:1907.03961 2019.
207	PCNet3D++			91.90 %	94.96 %	88.61 %	0.5 s	GPU @ 3.5 Ghz (Python)
208	MMLab-PointRCNN		code	91.90 %	95.92 %	87.11 %	0.1 s	GPU @ 2.5 Ghz (Python + C/C++)
S. Shi, X. Wang and H. Li: Pointrcnn: 3d object proposal generation and detection from point cloud. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition 2019.
209	MMLab-PartA^2		code	91.86 %	95.03 %	89.06 %	0.08 s	GPU @ 2.5 Ghz (Python + C/C++)
S. Shi, Z. Wang, J. Shi, X. Wang and H. Li: From Points to Parts: 3D Object Detection from Point Cloud with Part-aware and Part-aggregation Network. IEEE Transactions on Pattern Analysis and Machine Intelligence 2020.
210	mmFUSION		code	91.84 %	95.69 %	87.05 %	1s	1 core @ 2.5 Ghz (Python)
J. Ahmad and A. Del Bue: mmFUSION: Multimodal Fusion for 3D Objects Detection. arXiv preprint arXiv:2311.04058 2023.
211	WeakM3D		code	91.81 %	94.51 %	85.35 %	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.
212	epBRM		code	91.77 %	94.59 %	88.45 %	0.1 s	GPU @ >3.5 Ghz (Python + C/C++)
K. Shin: Improving a Quality of 3D Object Detection by Spatial Transformation Mechanism. arXiv preprint arXiv:1910.04853 2019.
213	PL++: PV-RCNN++			91.77 %	94.79 %	88.82 %	0.342 s	RTX 4060Ti (Python)
214	PCNet3D			91.73 %	95.09 %	88.31 %	0.05 s	GPU @ 3.5 Ghz (Python)
215	C-GCN			91.73 %	95.64 %	86.37 %	0.147 s	GPU @ V100 (Python)
J. Zarzar, S. Giancola and B. Ghanem: PointRGCN: Graph Convolution Networks for 3D Vehicles Detection Refinement. ArXiv 2019.
216	ITVD		code	91.73 %	95.85 %	79.31 %	0.3 s	GPU @ 2.5 Ghz (C/C++)
Y. Wei Liu: Improving Tiny Vehicle Detection in Complex Scenes. IEEE International Conference on Multimedia and Expo (ICME) 2018.
217	BFT3D_easy			91.72 %	97.15 %	84.32 %	0.18 s	1 core @ 2.5 Ghz (C/C++)
218	SINet+		code	91.67 %	94.17 %	78.60 %	0.3 s	TITAN X GPU
X. Hu, X. Xu, Y. Xiao, H. Chen, S. He, J. Qin and P. Heng: SINet: A Scale-insensitive Convolutional Neural Network for Fast Vehicle Detection. IEEE Transactions on Intelligent Transportation Systems 2019.
219	Cascade MS-CNN		code	91.60 %	94.26 %	78.84 %	0.25 s	GPU @ 2.5 Ghz (C/C++)
Z. Cai and N. Vasconcelos: Cascade R-CNN: High Quality Object Detection and Instance Segmentation. arXiv preprint arXiv:1906.09756 2019. Z. Cai, Q. Fan, R. Feris and N. Vasconcelos: A unified multi-scale deep convolutional neural network for fast object detection. European conference on computer vision 2016.
220	SeSame-pillar		code	91.57 %	95.13 %	88.41 %	N/A s	TITAN RTX @ 1.35 Ghz (Python)
H. O, C. Yang and K. Huh: SeSame: Simple, Easy 3D Object Detection with Point-Wise Semantics. Proceedings of the Asian Conference on Computer Vision (ACCV) 2024.
221	Dual_BEV			91.51 %	94.58 %	87.81 %	0.5 s	GPU @ 2.5 Ghz (Python)
222	PointRGBNet			91.48 %	95.40 %	86.50 %	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.
223	MAFF-Net(DAF-Pillar)			91.46 %	94.38 %	83.89 %	0.04 s	1 core @ 2.5 Ghz (Python + C/C++)
Z. Zhang, Z. Liang, M. Zhang, X. Zhao, Y. Ming, T. Wenming and S. Pu: MAFF-Net: Filter False Positive for 3D Vehicle Detection with Multi-modal Adaptive Feature Fusion. arXiv preprint arXiv:2009.10945 2020.
224	zqd_test2			91.46 %	95.08 %	85.85 %	0.5 s	1 core @ 2.5 Ghz (C/C++)
225	HRI-VoxelFPN			91.44 %	96.65 %	86.18 %	0.02 s	GPU @ 2.5 Ghz (Python + C/C++)
H. Kuang, B. Wang, J. An, M. Zhang and Z. Zhang: Voxel-FPN:multi-scale voxel feature aggregation in 3D object detection from point clouds. sensors 2020.
226	EgoNet		code	91.39 %	96.18 %	81.33 %	0.1 s	GPU @ 1.5 Ghz (Python)
S. Li, Z. Yan, H. Li and K. Cheng: Exploring intermediate representation for monocular vehicle pose estimation. The IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2021.
227	MonoDTF			91.35 %	95.03 %	85.92 %	0.1 s	1 core @ 2.5 Ghz (Python)
228	SeSame-pillar w/scor		code	91.34 %	94.89 %	88.13 %	N/A s	1 core @ 2.5 Ghz (C/C++)
H. O, C. Yang and K. Huh: SeSame: Simple, Easy 3D Object Detection with Point-Wise Semantics. Proceedings of the Asian Conference on Computer Vision (ACCV) 2024.
229	MonoSKD		code	91.34 %	96.68 %	83.69 %	0.04 s	1 core @ 2.5 Ghz (Python)
S. Wang and J. Zheng: MonoSKD: General Distillation Framework for Monocular 3D Object Detection via Spearman Correlation Coefficient. ECAI 2023.
230	zqd			91.30 %	94.88 %	85.58 %	0.1 s	1 core @ 2.5 Ghz (Python)
231	Stereo CenterNet			91.27 %	96.61 %	83.50 %	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.
232	AARMOD			91.23 %	96.70 %	83.76 %	0.1 s	1 core @ 2.5 Ghz (Python)
233	PointPillars		code	91.19 %	94.00 %	88.17 %	16 ms	1080ti GPU and Intel i7 CPU
A. Lang, S. Vora, H. Caesar, L. Zhou, J. Yang and O. Beijbom: PointPillars: Fast Encoders for Object Detection from Point Clouds. CVPR 2019.
234	LTN			91.18 %	94.68 %	81.51 %	0.4 s	GPU @ >3.5 Ghz (Python)
T. Wang, X. He, Y. Cai and G. Xiao: Learning a Layout Transfer Network for Context Aware Object Detection. IEEE Transactions on Intelligent Transportation Systems 2019.
235	MonoCoP-Car			91.18 %	93.60 %	81.77 %	0.01 s	GPU @ 2.5 Ghz (Python)
236	EOTL		code	91.17 %	96.31 %	81.20 %	TBD s	1 core @ 2.5 Ghz (Python + C/C++)
R. Yang, Z. Yan, T. Yang, Y. Wang and Y. Ruichek: Efficient Online Transfer Learning for Road Participants Detection in Autonomous Driving. IEEE Sensors Journal 2023.
237	WS3D			91.15 %	95.13 %	86.52 %	0.1 s	GPU @ 2.5 Ghz (Python)
Q. Meng, W. Wang, T. Zhou, J. Shen, L. Van Gool and D. Dai: Weakly Supervised 3D Object Detection from Lidar Point Cloud. 2020.
238	NeurOCS			91.08 %	96.39 %	81.20 %	0.1 s	GPU @ 2.5 Ghz (Python)
Z. Min, B. Zhuang, S. Schulter, B. Liu, E. Dunn and M. Chandraker: NeurOCS: Neural NOCS Supervision for Monocular 3D Object Localization. CVPR 2023.
239	KM3D		code	91.07 %	96.44 %	81.19 %	0.03 s	1 core @ 2.5 Ghz (Python)
P. Li: Monocular 3D Detection with Geometric Constraints Embedding and Semi-supervised Training. 2020.
240	DID-M3D		code	91.04 %	94.29 %	81.31 %	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.
241	FII-CenterNet		code	91.03 %	94.48 %	83.00 %	0.09 s	GPU @ 2.5 Ghz (Python)
S. Fan, F. Zhu, S. Chen, H. Zhang, B. Tian, Y. Lv and F. Wang: FII-CenterNet: An Anchor-Free Detector With Foreground Attention for Traffic Object Detection. IEEE Transactions on Vehicular Technology 2021.
242	Aston-EAS			91.02 %	93.91 %	77.93 %	0.24 s	GPU @ 2.5 Ghz (Python + C/C++)
J. Wei, J. He, Y. Zhou, K. Chen, Z. Tang and Z. Xiong: Enhanced Object Detection With Deep Convolutional Neural Networks for Advanced Driving Assistance. IEEE Transactions on Intelligent Transportation Systems 2019.
243	MonoFlex			91.02 %	96.01 %	83.38 %	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.
244	Mix-Teaching		code	91.02 %	96.35 %	83.41 %	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.
245	ARPNET			90.99 %	94.00 %	83.49 %	0.08 s	GPU @ 2.5 Ghz (Python + C/C++)
Y. Ye, C. Zhang and X. Hao: ARPNET: attention region proposal network for 3D object detection. Science China Information Sciences 2019.
246	CIE			90.98 %	96.31 %	83.43 %	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.
247	HINTED		code	90.97 %	95.16 %	85.55 %	0.04 s	1 core @ 2.5 Ghz (C/C++)
Q. Xia, W. Ye, H. Wu, S. Zhao, L. Xing, X. Huang, J. Deng, X. Li, C. Wen and C. Wang: HINTED: Hard Instance Enhanced Detector with Mixed-Density Feature Fusion for Sparsely- Supervised 3D Object Detection. Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition 2024.
248	MonoQ			90.97 %	96.20 %	81.04 %	0.02 s	1 core @ 2.5 Ghz (Python)
249	DCD		code	90.93 %	96.44 %	83.36 %	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.
250	MonoEF			90.88 %	96.32 %	83.27 %	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.
251	PatchNet		code	90.87 %	93.82 %	79.62 %	0.4 s	1 core @ 2.5 Ghz (C/C++)
X. Ma, S. Liu, Z. Xia, H. Zhang, X. Zeng and W. Ouyang: Rethinking Pseudo-LiDAR Representation. Proceedings of the European Conference on Computer Vision (ECCV) 2020.
252	MV3D			90.83 %	96.47 %	78.63 %	0.36 s	GPU @ 2.5 Ghz (Python + C/C++)
X. Chen, H. Ma, J. Wan, B. Li and T. Xia: Multi-View 3D Object Detection Network for Autonomous Driving. CVPR 2017.
253	monodle		code	90.81 %	93.83 %	80.93 %	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 .
254	3D IoU Loss			90.79 %	95.92 %	85.65 %	0.08 s	GPU @ 2.5 Ghz (Python + C/C++)
D. Zhou, J. Fang, X. Song, C. Guan, J. Yin, Y. Dai and R. Yang: IoU Loss for 2D/3D Object Detection. International Conference on 3D Vision (3DV) 2019.
255	SINet_VGG		code	90.79 %	93.59 %	77.53 %	0.2 s	TITAN X GPU
X. Hu, X. Xu, Y. Xiao, H. Chen, S. He, J. Qin and P. Heng: SINet: A Scale-insensitive Convolutional Neural Network for Fast Vehicle Detection. IEEE Transactions on Intelligent Transportation Systems 2019.
256	HomoLoss(monoflex)		code	90.69 %	95.92 %	80.91 %	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.
257	TANet		code	90.67 %	93.67 %	85.31 %	0.035s	GPU @ 2.5 Ghz (Python + C/C++)
Z. Liu, X. Zhao, T. Huang, R. Hu, Y. Zhou and X. Bai: TANet: Robust 3D Object Detection from Point Clouds with Triple Attention. AAAI 2020.
258	T-SSD			90.65 %	96.06 %	85.54 %	0.04	1 core @ 2.0 Ghz (C/C++)
259	MonoCInIS			90.60 %	96.05 %	82.43 %	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.
260	SeSame-voxel		code	90.55 %	95.78 %	87.62 %	N/A s	TITAN RTX @ 1.35 Ghz (Python)
H. O, C. Yang and K. Huh: SeSame: Simple, Easy 3D Object Detection with Point-Wise Semantics. Proceedings of the Asian Conference on Computer Vision (ACCV) 2024.
261	CG-Stereo			90.38 %	96.31 %	82.80 %	0.57 s	GeForce RTX 2080 Ti
C. Li, J. Ku and S. Waslander: Confidence Guided Stereo 3D Object Detection with Split Depth Estimation. IROS 2020.
262	SCNet			90.30 %	95.59 %	85.09 %	0.04 s	GPU @ 3.0 Ghz (Python)
Z. Wang, H. Fu, L. Wang, L. Xiao and B. Dai: SCNet: Subdivision Coding Network for Object Detection Based on 3D Point Cloud. IEEE Access 2019.
263	CMKD		code	90.28 %	95.14 %	83.91 %	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.
264	PS-fld		code	90.27 %	95.75 %	82.32 %	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.
265	Deep3DBox			90.19 %	94.71 %	76.82 %	1.5 s	GPU @ 2.5 Ghz (C/C++)
A. Mousavian, D. Anguelov, J. Flynn and J. Kosecka: 3D Bounding Box Estimation Using Deep Learning and Geometry. CVPR 2017.
266	FQNet			90.17 %	94.72 %	76.78 %	0.5 s	1 core @ 2.5 Ghz (Python)
L. Liu, J. Lu, C. Xu, Q. Tian and J. Zhou: Deep Fitting Degree Scoring Network for Monocular 3D Object Detection. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition 2019.
267	DeepStereoOP			90.06 %	95.15 %	79.91 %	3.4 s	GPU @ 3.5 Ghz (Matlab + C/C++)
C. Pham and J. Jeon: Robust Object Proposals Re-ranking for Object Detection in Autonomous Driving Using Convolutional Neural Networks. Signal Processing: Image Communiation 2017.
268	SubCNN			89.98 %	94.26 %	79.78 %	2 s	GPU @ 3.5 Ghz (Python + C/C++)
Y. Xiang, W. Choi, Y. Lin and S. Savarese: Subcategory-aware Convolutional Neural Networks for Object Proposals and Detection. IEEE Winter Conference on Applications of Computer Vision (WACV) 2017.
269	MLOD		code	89.97 %	94.88 %	84.98 %	0.12 s	GPU @ 1.5 Ghz (Python)
J. Deng and K. Czarnecki: MLOD: A multi-view 3D object detection based on robust feature fusion method. arXiv preprint arXiv:1909.04163 2019.
270	GPP		code	89.96 %	94.02 %	81.13 %	0.23 s	GPU @ 1.5 Ghz (Python + C/C++)
A. Rangesh and M. Trivedi: Ground plane polling for 6dof pose estimation of objects on the road. IEEE Transactions on Intelligent Vehicles 2020.
271	AVOD		code	89.88 %	95.17 %	82.83 %	0.08 s	Titan X (pascal)
J. Ku, M. Mozifian, J. Lee, A. Harakeh and S. Waslander: Joint 3D Proposal Generation and Object Detection from View Aggregation. IROS 2018.
272	SINet_PVA		code	89.86 %	92.72 %	76.47 %	0.11 s	TITAN X GPU
X. Hu, X. Xu, Y. Xiao, H. Chen, S. He, J. Qin and P. Heng: SINet: A Scale-insensitive Convolutional Neural Network for Fast Vehicle Detection. IEEE Transactions on Intelligent Transportation Systems 2019.
273	MonoCoP			89.72 %	92.13 %	80.15 %	0.01 s	1 core @ 2.5 Ghz (C/C++)
274	3DOP		code	89.55 %	92.96 %	79.38 %	3s	GPU @ 2.5 Ghz (Matlab + C/C++)
X. Chen, K. Kundu, Y. Zhu, A. Berneshawi, H. Ma, S. Fidler and R. Urtasun: 3D Object Proposals for Accurate Object Class Detection. NIPS 2015.
275	ADD		code	89.53 %	94.82 %	81.60 %	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 .
276	IAFA			89.46 %	93.08 %	79.83 %	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.
277	Mono3D		code	89.37 %	94.52 %	79.15 %	4.2 s	GPU @ 2.5 Ghz (Matlab + C/C++)
X. Chen, K. Kundu, Z. Zhang, H. Ma, S. Fidler and R. Urtasun: Monocular 3D Object Detection for Autonomous Driving. CVPR 2016.
278	4d-MSCNN		code	89.37 %	92.40 %	77.00 %	0.3 min	GPU @ 3.0 Ghz (Matlab + C/C++)
P. Ferraz, B. Oliveira, F. Ferreira, C. Silva Martins and others: Three-stage RGBD architecture for vehicle and pedestrian detection using convolutional neural networks and stereo vision. IET Intelligent Transport Systems 2020.
279	MonoDDE			89.19 %	96.76 %	81.60 %	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.
280	MonoUNI		code	88.96 %	94.30 %	78.95 %	0.04 s	1 core @ 2.5 Ghz (Python)
J. Jia, Z. Li and Y. Shi: MonoUNI: A Unified Vehicle and Infrastructure-side Monocular 3D Object Detection Network with Sufficient Depth Clues. Thirty-seventh Conference on Neural Information Processing Systems 2023.
281	AVOD-FPN		code	88.92 %	94.70 %	84.13 %	0.1 s	Titan X (Pascal)
J. Ku, M. Mozifian, J. Lee, A. Harakeh and S. Waslander: Joint 3D Proposal Generation and Object Detection from View Aggregation. IROS 2018.
282	PCT		code	88.78 %	96.45 %	78.85 %	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.
283	OPA-3D		code	88.77 %	96.50 %	76.55 %	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.
284	AM3D			88.71 %	92.55 %	77.78 %	0.4 s	GPU @ 2.5 Ghz (Python + C/C++)
X. Ma, Z. Wang, H. Li, P. Zhang, W. Ouyang and X. Fan: Accurate Monocular Object Detection via Color- Embedded 3D Reconstruction for Autonomous Driving. Proceedings of the IEEE international Conference on Computer Vision (ICCV) 2019.
285	MS-CNN		code	88.68 %	93.87 %	76.11 %	0.4 s	GPU @ 2.5 Ghz (C/C++)
Z. Cai, Q. Fan, R. Feris and N. Vasconcelos: A Unified Multi-scale Deep Convolutional Neural Network for Fast Object Detection. ECCV 2016.
286	MonoPSR		code	88.50 %	93.63 %	73.36 %	0.2 s	GPU @ 3.5 Ghz (Python)
J. Ku*, A. Pon* and S. Waslander: Monocular 3D Object Detection Leveraging Accurate Proposals and Shape Reconstruction. CVPR 2019.
287	Shift R-CNN (mono)		code	88.48 %	94.07 %	78.34 %	0.25 s	GPU @ 1.5 Ghz (Python)
A. Naiden, V. Paunescu, G. Kim, B. Jeon and M. Leordeanu: Shift R-CNN: Deep Monocular 3D Object Detection With Closed-form Geometric Constraints. ICIP 2019.
288	RCD			88.46 %	92.52 %	83.73 %	0.1 s	GPU @ 2.5 Ghz (Python)
A. Bewley, P. Sun, T. Mensink, D. Anguelov and C. Sminchisescu: Range Conditioned Dilated Convolutions for Scale Invariant 3D Object Detection. Conference on Robot Learning (CoRL) 2020.
289	MM-MRFC			88.46 %	95.54 %	78.14 %	0.05 s	GPU @ 2.5 Ghz (C/C++)
A. Costea, R. Varga and S. Nedevschi: Fast Boosting based Detection using Scale Invariant Multimodal Multiresolution Filtered Features. CVPR 2017.
290	MonoDTR			88.41 %	93.90 %	76.20 %	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.
291	MonoDSSMs-M			88.31 %	93.96 %	76.15 %	0.02 s	1 core @ 2.5 Ghz (Python + C/C++)
K. Vu, T. Tran and D. Nguyen: MonoDSSMs: Efficient Monocular 3D Object Detection with Depth-Aware State Space Models. Proceedings of the Asian Conference on Computer Vision (ACCV) 2024.
292	3DBN			88.29 %	93.74 %	80.74 %	0.13s	1080Ti (Python+C/C++)
X. Li, J. Guivant, N. Kwok and Y. Xu: 3D Backbone Network for 3D Object Detection. CoRR 2019.
293	MonoDSSMs-A			88.19 %	93.91 %	76.04 %	0.02 s	1 core @ 2.5 Ghz (C/C++)
K. Vu, T. Tran and D. Nguyen: MonoDSSMs: Efficient Monocular 3D Object Detection with Depth-Aware State Space Models. Proceedings of the Asian Conference on Computer Vision (ACCV) 2024.
294	MonoCInIS			88.16 %	96.22 %	75.72 %	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.
295	MonoRUn		code	87.91 %	95.48 %	78.10 %	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.
296	PS-SVDM			87.55 %	94.49 %	78.21 %	1 s	1 core @ 2.5 Ghz (Python)
Y. Shi: SVDM: Single-View Diffusion Model for Pseudo-Stereo 3D Object Detection. arXiv preprint arXiv:2307.02270 2023.
297	SMOKE		code	87.51 %	93.21 %	77.66 %	0.03 s	GPU @ 2.5 Ghz (Python)
Z. Liu, Z. Wu and R. Tóth: SMOKE: Single-Stage Monocular 3D Object Detection via Keypoint Estimation. 2020.
298	monospb			87.44 %	93.05 %	77.48 %	0.01 s	1 core @ 2.5 Ghz (Python)
299	UniCuboid			87.33 %	95.79 %	77.76 %	0.1 s	1 core @ 2.5 Ghz (C/C++)
300	H3			87.33 %	93.58 %	77.79 %	0.1 s	1 core @ 2.5 Ghz (C/C++)
301	MonoFRD			87.31 %	95.25 %	77.66 %	0.01 s	1 core @ 2.5 Ghz (C/C++)
Z. Gong, Y. Zhao, F. Zhang, G. Gui, B. Chen, L. Yu, H. Wang, C. Yang and W. Gui: Color intuitive feature guided depth-height fusion and volume rendering for monocular 3D object detection. IEEE Transactions on Intelligent Vehicles(Major Revison) 2024.
302	CDN		code	87.19 %	95.85 %	79.43 %	0.6 s	GPU @ 2.5 Ghz (Python)
D. Garg, Y. Wang, B. Hariharan, M. Campbell, K. Weinberger and W. Chao: Wasserstein Distances for Stereo Disparity Estimation. Advances in Neural Information Processing Systems (NeurIPS) 2020.
303	CPD++(unsupervised)		code	86.95 %	94.96 %	83.72 %	0.1 s	GPU @ >3.5 Ghz (Python)
304	RTM3D		code	86.93 %	91.82 %	77.41 %	0.05 s	GPU @ 1.0 Ghz (Python)
P. Li, H. Zhao, P. Liu and F. Cao: RTM3D: Real-time Monocular 3D Detection from Object Keypoints for Autonomous Driving. 2020.
305	MonoNeRD		code	86.89 %	94.60 %	77.23 %	na s	1 core @ 2.5 Ghz (Python)
J. Xu, L. Peng, H. Cheng, H. Li, W. Qian, K. Li, W. Wang and D. Cai: MonoNeRD: NeRF-like Representations for Monocular 3D Object Detection. ICCV 2023.
306	MonoRCNN		code	86.78 %	91.98 %	66.97 %	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.
307	BirdNet+		code	86.73 %	92.61 %	81.80 %	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.
308	SAKD-MR-Res18			86.73 %	94.50 %	71.87 %	0.03 s	1 core @ 2.5 Ghz (C/C++)
309	MonoRCNN++		code	86.69 %	94.31 %	71.87 %	0.07 s	GPU @ 2.5 Ghz (Python)
X. Shi, Z. Chen and T. Kim: Multivariate Probabilistic Monocular 3D Object Detection. WACV 2023.
310	DEVIANT		code	86.64 %	94.42 %	76.69 %	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.
311	GUPNet		code	86.45 %	94.15 %	74.18 %	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.
312	DSGN		code	86.43 %	95.53 %	78.75 %	0.67 s	NVIDIA Tesla V100
Y. Chen, S. Liu, X. Shen and J. Jia: DSGN: Deep Stereo Geometry Network for 3D Object Detection. CVPR 2020.
313	GATE3D		code	86.23 %	90.58 %	79.19 %	0.01 s	1 core @ 2.5 Ghz (C/C++)
314	MonoDETR		code	86.17 %	93.99 %	76.19 %	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.
315	mdab			86.15 %	94.14 %	76.25 %	0.02 s	1 core @ 2.5 Ghz (Python)
316	mdab			86.15 %	94.14 %	76.25 %	22 s	1 core @ 2.5 Ghz (C/C++)
317	PS-SVDM			86.15 %	94.45 %	77.86 %	1 s	1 core @ 2.5 Ghz (Python)
Y. Shi: SVDM: Single-View Diffusion Model for Pseudo-Stereo 3D Object Detection. arXiv preprint arXiv:2307.02270 2023.
318	Stereo R-CNN		code	85.98 %	93.98 %	71.25 %	0.3 s	GPU @ 2.5 Ghz (Python)
P. Li, X. Chen and S. Shen: Stereo R-CNN based 3D Object Detection for Autonomous Driving. CVPR 2019.
319	StereoFENet			85.70 %	91.48 %	77.62 %	0.15 s	1 core @ 3.5 Ghz (Python)
W. Bao, B. Xu and Z. Chen: MonoFENet: Monocular 3D Object Detection with Feature Enhancement Networks. IEEE Transactions on Image Processing 2019.
320	DMF			85.49 %	89.50 %	82.52 %	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.
321	ResNet-RRC_Car			85.33 %	91.45 %	74.27 %	0.06 s	GPU @ 1.5 Ghz (Python + C/C++)
H. Jeon and others: High-Speed Car Detection Using ResNet- Based Recurrent Rolling Convolution. Proceedings of the IEEE conference on systems, man, and cybernetics 2018.
322	MM3D			85.18 %	95.81 %	77.67 %	0.1 s	1 core @ 2.5 Ghz (C/C++)
323	PL++ (SDN+GDC)		code	85.15 %	94.95 %	77.78 %	0.6 s	GPU @ 2.5 Ghz (C/C++)
Y. You, Y. Wang, W. Chao, D. Garg, G. Pleiss, B. Hariharan, M. Campbell and K. Weinberger: Pseudo-LiDAR++: Accurate Depth for 3D Object Detection in Autonomous Driving. International Conference on Learning Representations 2020.
324	M3D-RPN		code	85.08 %	89.04 %	69.26 %	0.16 s	GPU @ 1.5 Ghz (Python)
G. Brazil and X. Liu: M3D-RPN: Monocular 3D Region Proposal Network for Object Detection . ICCV 2019 .
325	CDN-PL++			85.01 %	94.66 %	77.60 %	0.4 s	GPU @ 2.5 Ghz (C/C++)
D. Garg, Y. Wang, B. Hariharan, M. Campbell, K. Weinberger and W. Chao: Wasserstein Distances for Stereo Disparity Estimation. Advances in Neural Information Processing Systems 2020.
326	SDP+CRC (ft)			85.00 %	92.06 %	71.71 %	0.6 s	GPU @ 2.5 Ghz (C/C++)
F. Yang, W. Choi and Y. Lin: Exploit All the Layers: Fast and Accurate CNN Object Detector with Scale Dependent Pooling and Cascaded Rejection Classifiers. Proceedings of the IEEE International Conference on Computer Vision and Pattern Recognition 2016.
327	SSM3D			84.96 %	93.63 %	77.40 %	0.1 s	1 core @ 2.5 Ghz (C/C++)
328	SS3D			84.92 %	92.72 %	70.35 %	48 ms	Tesla V100 (Python)
E. Jörgensen, C. Zach and F. Kahl: Monocular 3D Object Detection and Box Fitting Trained End-to-End Using Intersection-over-Union Loss. CoRR 2019.
329	Sample		code	84.79 %	93.17 %	75.11 %	0.01 s	1 core @ 2.5 Ghz (C/C++)
330	STLM3D			84.78 %	93.46 %	77.17 %	0.1 s	1 core @ 2.5 Ghz (C/C++)
331	M5_3D			84.69 %	93.53 %	77.16 %	0.1 s	1 core @ 2.5 Ghz (C/C++)
332	MonoFENet			84.63 %	91.68 %	76.71 %	0.15 s	1 core @ 3.5 Ghz (Python)
W. Bao, B. Xu and Z. Chen: MonoFENet: Monocular 3D Object Detection with Feature Enhancement Networks. IEEE Transactions on Image Processing 2019.
333	S3M3			84.58 %	93.59 %	75.07 %	0.1 s	1 core @ 2.5 Ghz (C/C++)
334	DLE		code	84.45 %	94.66 %	62.10 %	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.
335	MV3D (LIDAR)			84.39 %	93.08 %	79.27 %	0.24 s	GPU @ 2.5 Ghz (Python + C/C++)
X. Chen, H. Ma, J. Wan, B. Li and T. Xia: Multi-View 3D Object Detection Network for Autonomous Driving. CVPR 2017.
336	Complexer-YOLO			84.16 %	91.92 %	79.62 %	0.06 s	GPU @ 3.5 Ghz (C/C++)
M. Simon, K. Amende, A. Kraus, J. Honer, T. Samann, H. Kaulbersch, S. Milz and H. Michael Gross: Complexer-YOLO: Real-Time 3D Object Detection and Tracking on Semantic Point Clouds. The IEEE Conference on Computer Vision and Pattern Recognition (CVPR) Workshops 2019.
337	MonOAPC			84.13 %	92.39 %	74.62 %	0035 s	1 core @ 2.5 Ghz (Python)
H. Yao, J. Chen, Z. Wang, X. Wang, P. Han, X. Chai and Y. Qiu: Occlusion-Aware Plane-Constraints for Monocular 3D Object Detection. IEEE Transactions on Intelligent Transportation Systems 2023.
338	ZoomNet		code	83.92 %	94.22 %	69.00 %	0.3 s	1 core @ 2.5 Ghz (C/C++)
L. Z. Xu: ZoomNet: Part-Aware Adaptive Zooming Neural Network for 3D Object Detection. Proceedings of the AAAI Conference on Artificial Intelligence 2020.
339	CMAN			83.74 %	89.74 %	65.35 %	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.
340	D4LCN		code	83.67 %	90.34 %	65.33 %	0.2 s	GPU @ 2.5 Ghz (Python + C/C++)
M. Ding, Y. Huo, H. Yi, Z. Wang, J. Shi, Z. Lu and P. Luo: Learning Depth-Guided Convolutions for Monocular 3D Object Detection. CVPR 2020.
341	test_det			83.23 %	84.04 %	74.69 %	-1 s	1 core @ 2.5 Ghz (C/C++)
342	Faster R-CNN		code	83.16 %	88.97 %	72.62 %	2 s	GPU @ 3.5 Ghz (Python + C/C++)
S. Ren, K. He, R. Girshick and J. Sun: Faster R-CNN: Towards Real- Time Object Detection with Region Proposal Networks. NIPS 2015.
343	LLW			83.12 %	92.70 %	73.75 %	0.1 s	1 core @ 2.5 Ghz (C/C++)
344	SGM3D		code	83.05 %	93.66 %	73.35 %	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.
345	Pseudo-LiDAR++		code	82.90 %	94.46 %	75.45 %	0.4 s	GPU @ 2.5 Ghz (Python)
Y. You, Y. Wang, W. Chao, D. Garg, G. Pleiss, B. Hariharan, M. Campbell and K. Weinberger: Pseudo-LiDAR++: Accurate Depth for 3D Object Detection in Autonomous Driving. International Conference on Learning Representations 2020.
346	Disp R-CNN		code	82.86 %	93.64 %	68.33 %	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.
347	MonoMH		code	82.77 %	91.02 %	71.66 %	0.04 s	1 core @ 2.5 Ghz (Python)
348	BS3D			82.72 %	95.35 %	70.01 %	22 ms	Titan Xp
N. Gählert, J. Wan, M. Weber, J. Zöllner, U. Franke and J. Denzler: Beyond Bounding Boxes: Using Bounding Shapes for Real-Time 3D Vehicle Detection from Monocular RGB Images. 2019 IEEE Intelligent Vehicles Symposium (IV) 2019.
349	Disp R-CNN (velo)		code	82.64 %	93.45 %	70.45 %	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.
350	HomoLoss(imvoxelnet)		code	82.54 %	92.81 %	72.80 %	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.
351	YOLOStereo3D		code	82.15 %	94.81 %	62.17 %	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.
352	Ground-Aware		code	82.05 %	92.33 %	62.08 %	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.
353	FRCNN+Or		code	82.00 %	92.91 %	68.79 %	0.09 s	Titan Xp GPU
C. Guindel, D. Martin and J. Armingol: Fast Joint Object Detection and Viewpoint Estimation for Traffic Scene Understanding. IEEE Intelligent Transportation Systems Magazine 2018. C. Guindel, D. Martin and J. Armingol: Joint Object Detection and Viewpoint Estimation using CNN features. IEEE International Conference on Vehicular Electronics and Safety (ICVES) 2017.
354	DDMP-3D			81.70 %	91.15 %	63.12 %	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.
355	A3DODWTDA (image)		code	81.25 %	78.96 %	70.56 %	0.8 s	GPU @ 3.0 Ghz (Python)
F. Gustafsson and E. Linder-Norén: Automotive 3D Object Detection Without Target Domain Annotations. 2018.
356	RefineNet			81.01 %	91.91 %	65.67 %	0.20 s	GPU @ 2.5 Ghz (Matlab + C++)
R. Rajaram, E. Bar and M. Trivedi: RefineNet: Refining Object Detectors for Autonomous Driving. IEEE Transactions on Intelligent Vehicles 2016. R. Rajaram, E. Bar and M. Trivedi: RefineNet: Iterative Refinement for Accurate Object Localization. Intelligent Transportation Systems Conference 2016.
357	CaDDN		code	80.73 %	93.61 %	71.09 %	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.
358	ESGN			80.58 %	93.07 %	70.68 %	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.
359	PGD-FCOS3D		code	80.58 %	92.04 %	69.67 %	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.
360	AMNet+DDAD15M		code	80.30 %	88.43 %	74.19 %	0.03 s	1 core @ 2.5 Ghz (C/C++)
H. Pan, Y. Jia, J. Wang and W. Sun: MonoAMNet: Three-Stage Real-Time Monocular 3D Object Detection With Adaptive Methods. IEEE Transactions on Intelligent Transportation Systems 2025.
361	GrooMeD-NMS		code	80.28 %	90.14 %	63.78 %	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.
362	3D-GCK			80.19 %	89.55 %	68.08 %	24 ms	Tesla V100
N. Gählert, J. Wan, N. Jourdan, J. Finkbeiner, U. Franke and J. Denzler: Single-Shot 3D Detection of Vehicles from Monocular RGB Images via Geometrically Constrained Keypoints in Real-Time. 2020 IEEE Intelligent Vehicles Symposium (IV) 2020.
363	AMNet		code	79.84 %	88.59 %	72.78 %	0.03 s	GPU @ 1.0 Ghz (Python)
H. Pan, Y. Jia, J. Wang and W. Sun: MonoAMNet: Three-Stage Real-Time Monocular 3D Object Detection With Adaptive Methods. IEEE Transactions on Intelligent Transportation Systems 2025.
364	YoloMono3D		code	79.63 %	92.37 %	59.69 %	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.
365	A3DODWTDA		code	79.15 %	82.98 %	68.30 %	0.08 s	GPU @ 3.0 Ghz (Python)
F. Gustafsson and E. Linder-Norén: Automotive 3D Object Detection Without Target Domain Annotations. 2018.
366	ImVoxelNet		code	79.09 %	89.80 %	69.45 %	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.
367	DFR-Net			78.81 %	90.13 %	60.40 %	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.
368	spLBP			78.66 %	81.66 %	61.69 %	1.5 s	8 cores @ 2.5 Ghz (Matlab + C/C++)
Q. Hu, S. Paisitkriangkrai, C. Shen, A. Hengel and F. Porikli: Fast Detection of Multiple Objects in Traffic Scenes With a Common Detection Framework. IEEE Trans. Intelligent Transportation Systems 2016.
369	FMF-occlusion-net			78.21 %	92.33 %	61.58 %	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.
370	3D-SSMFCNN		code	78.19 %	77.92 %	69.19 %	0.1 s	GPU @ 1.5 Ghz (C/C++)
L. Novak: Vehicle Detection and Pose Estimation for Autonomous Driving. 2017.
371	MonoGRNet		code	77.94 %	88.65 %	63.31 %	0.04s	NVIDIA P40
Z. Qin, J. Wang and Y. Lu: MonoGRNet: A Geometric Reasoning Network for 3D Object Localization. The Thirty-Third AAAI Conference on Artificial Intelligence (AAAI-19) 2019.
372	Aug3D-RPN			77.88 %	85.57 %	61.16 %	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.
373	AutoShape		code	77.66 %	86.51 %	64.40 %	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.
374	Reinspect		code	77.48 %	90.27 %	66.73 %	2s	1 core @ 2.5 Ghz (C/C++)
R. Stewart, M. Andriluka and A. Ng: End-to-End People Detection in Crowded Scenes. CVPR 2016.
375	multi-task CNN			77.18 %	86.12 %	68.09 %	25.1 ms	GPU @ 2.0 Ghz (Python)
M. Oeljeklaus, F. Hoffmann and T. Bertram: A Fast Multi-Task CNN for Spatial Understanding of Traffic Scenes. IEEE Intelligent Transportation Systems Conference 2018.
376	Regionlets			76.99 %	88.75 %	60.49 %	1 s	>8 cores @ 2.5 Ghz (C/C++)
X. Wang, M. Yang, S. Zhu and Y. Lin: Regionlets for Generic Object Detection. T-PAMI 2015. W. Zou, X. Wang, M. Sun and Y. Lin: Generic Object Detection with Dense Neural Patterns and Regionlets. British Machine Vision Conference 2014. C. Long, X. Wang, G. Hua, M. Yang and Y. Lin: Accurate Object Detection with Location Relaxation and Regionlets Relocalization. Asian Conference on Computer Vision 2014.
377	3DVP		code	76.98 %	84.95 %	65.78 %	40 s	8 cores @ 3.5 Ghz (Matlab + C/C++)
Y. Xiang, W. Choi, Y. Lin and S. Savarese: Data-Driven 3D Voxel Patterns for Object Category Recognition. IEEE Conference on Computer Vision and Pattern Recognition 2015.
378	Mobile Stereo R-CNN			76.73 %	90.08 %	62.23 %	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.
379	monodetrnext-f			76.64 %	89.19 %	69.75 %	0.03 s	GPU @ 2.5 Ghz (Python)
380	SubCat		code	76.36 %	84.10 %	60.56 %	0.7 s	6 cores @ 3.5 Ghz (Matlab + C/C++)
E. Ohn-Bar and M. Trivedi: Learning to Detect Vehicles by Clustering Appearance Patterns. T-ITS 2015.
381	GS3D			76.35 %	86.23 %	62.67 %	2 s	1 core @ 2.5 Ghz (C/C++)
B. Li, W. Ouyang, L. Sheng, X. Zeng and X. Wang: GS3D: An Efficient 3D Object Detection Framework for Autonomous Driving. IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2019.
382	AOG		code	76.24 %	86.08 %	61.51 %	3 s	4 cores @ 2.5 Ghz (Matlab)
T. Wu, B. Li and S. Zhu: Learning And-Or Models to Represent Context and Occlusion for Car Detection and Viewpoint Estimation. TPAMI 2016. B. Li, T. Wu and S. Zhu: Integrating Context and Occlusion for Car Detection by Hierarchical And-Or Model. ECCV 2014.
383	monodetrnext-a			76.08 %	88.93 %	69.50 %	0.04 s	1 core @ 2.5 Ghz (C/C++)
384	Pose-RCNN			75.83 %	89.59 %	64.06 %	2 s	>8 cores @ 2.5 Ghz (Python)
M. Braun, Q. Rao, Y. Wang and F. Flohr: Pose-RCNN: Joint object detection and pose estimation using 3D object proposals. Intelligent Transportation Systems (ITSC), 2016 IEEE 19th International Conference on 2016.
385	Plane-Constraints		code	75.43 %	82.54 %	66.82 %	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.
386	3D FCN			74.65 %	86.74 %	67.85 %	>5 s	1 core @ 2.5 Ghz (C/C++)
B. Li: 3D Fully Convolutional Network for Vehicle Detection in Point Cloud. IROS 2017.
387	OC Stereo		code	74.60 %	87.39 %	62.56 %	0.35 s	1 core @ 2.5 Ghz (Python + C/C++)
A. Pon, J. Ku, C. Li and S. Waslander: Object-Centric Stereo Matching for 3D Object Detection. ICRA 2020.
388	Kinematic3D		code	71.73 %	89.67 %	54.97 %	0.12 s	1 core @ 1.5 Ghz (C/C++)
G. Brazil, G. Pons-Moll, X. Liu and B. Schiele: Kinematic 3D Object Detection in Monocular Video. ECCV 2020 .
389	SeSame-point w/score		code	71.56 %	88.90 %	61.60 %	N/A s	1 core @ 1.5 Ghz (Python)
H. O, C. Yang and K. Huh: SeSame: Simple, Easy 3D Object Detection with Point-Wise Semantics. Proceedings of the Asian Conference on Computer Vision (ACCV) 2024.
390	AOG-View			71.26 %	85.01 %	55.73 %	3 s	1 core @ 2.5 Ghz (Matlab, C/C++)
B. Li, T. Wu and S. Zhu: Integrating Context and Occlusion for Car Detection by Hierarchical And-Or Model. ECCV 2014.
391	GAC3D			70.73 %	83.30 %	52.23 %	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.
392	MV-RGBD-RF			70.70 %	77.89 %	57.41 %	4 s	4 cores @ 2.5 Ghz (C/C++)
A. Gonzalez, D. Vazquez, A. Lopez and J. Amores: On-Board Object Detection: Multicue, Multimodal, and Multiview Random Forest of Local Experts.. IEEE Trans. on Cybernetics 2016. A. Gonzalez, G. Villalonga, J. Xu, D. Vazquez, J. Amores and A. Lopez: Multiview Random Forest of Local Experts Combining RGB and LIDAR data for Pedestrian Detection. IEEE Intelligent Vehicles Symposium (IV) 2015.
393	Vote3Deep			70.30 %	78.95 %	63.12 %	1.5 s	4 cores @ 2.5 Ghz (C/C++)
M. Engelcke, D. Rao, D. Zeng Wang, C. Hay Tong and I. Posner: Vote3Deep: Fast Object Detection in 3D Point Clouds Using Efficient Convolutional Neural Networks. ArXiv e-prints 2016.
394	ROI-10D			70.16 %	76.56 %	61.15 %	0.2 s	GPU @ 3.5 Ghz (Python)
F. Manhardt, W. Kehl and A. Gaidon: ROI-10D: Monocular Lifting of 2D Detection to 6D Pose and Metric Shape. Computer Vision and Pattern Recognition (CVPR) 2019.
395	CPD(unsupervised)		code	68.17 %	86.87 %	67.89 %	0.1 s	GPU @ >3.5 Ghz (Python + C/C++)
H. Wu, S. Zhao, X. Huang, C. Wen, X. Li and C. Wang: Commonsense Prototype for Outdoor Unsupervised 3D Object Detection. CVPR 2024.
396	BirdNet+ (legacy)		code	68.05 %	92.10 %	65.61 %	0.1 s	Titan Xp (PyTorch)
A. Barrera, C. Guindel, J. Beltrán and F. García: BirdNet+: End-to-End 3D Object Detection in LiDAR Bird’s Eye View. 2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC) 2020.
397	Decoupled-3D			67.92 %	87.78 %	54.53 %	0.08 s	GPU @ 2.5 Ghz (C/C++)
Y. Cai, B. Li, Z. Jiao, H. Li, X. Zeng and X. Wang: Monocular 3D Object Detection with Decoupled Structured Polygon Estimation and Height-Guided Depth Estimation. AAAI 2020.
398	SparVox3D			67.88 %	83.76 %	52.56 %	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.
399	Pseudo-Lidar		code	67.79 %	85.40 %	58.50 %	0.4 s	GPU @ 2.5 Ghz (Python + C/C++)
Y. Wang, W. Chao, D. Garg, B. Hariharan, M. Campbell and K. Weinberger: Pseudo-LiDAR From Visual Depth Estimation: Bridging the Gap in 3D Object Detection for Autonomous Driving. The IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2019.
400	OC-DPM			67.06 %	79.07 %	52.61 %	10 s	8 cores @ 2.5 Ghz (Matlab)
B. Pepik, M. Stark, P. Gehler and B. Schiele: Occlusion Patterns for Object Class Detection. IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2013.
401	DPM-VOC+VP			66.72 %	82.15 %	49.01 %	8 s	1 core @ 2.5 Ghz (C/C++)
B. Pepik, M. Stark, P. Gehler and B. Schiele: Multi-view and 3D Deformable Part Models. IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI) 2015.
402	BdCost48LDCF		code	66.63 %	81.38 %	52.20 %	0.5 s	8 cores @ 3.5 Ghz (Matlab + C/C++)
A. Fernández-Baldera, J. Buenaposada and L. Baumela: BAdaCost: Multi-class Boosting with Costs . Pattern Recognition 2018.
403	RefinedMPL			65.24 %	88.29 %	53.20 %	0.15 s	GPU @ 2.5 Ghz (Python + C/C++)
J. Vianney, S. Aich and B. Liu: RefinedMPL: Refined Monocular PseudoLiDAR for 3D Object Detection in Autonomous Driving. arXiv preprint arXiv:1911.09712 2019.
404	MDPM-un-BB			64.06 %	79.74 %	49.07 %	60 s	4 core @ 2.5 Ghz (MATLAB)
P. Felzenszwalb, R. Girshick, D. McAllester and D. Ramanan: Object Detection with Discriminatively Trained Part-Based Models. PAMI 2010.
405	SeSame-voxel w/score		code	63.79 %	73.57 %	58.02 %	N/A s	GPU @ 1.5 Ghz (Python)
H. O, C. Yang and K. Huh: SeSame: Simple, Easy 3D Object Detection with Point-Wise Semantics. Proceedings of the Asian Conference on Computer Vision (ACCV) 2024.
406	TLNet (Stereo)		code	63.53 %	76.92 %	54.58 %	0.1 s	1 core @ 2.5 Ghz (Python)
Z. Qin, J. Wang and Y. Lu: Triangulation Learning Network: from Monocular to Stereo 3D Object Detection. IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2019.
407	PDV-Subcat			63.24 %	78.27 %	47.67 %	7 s	1 core @ 2.5 Ghz (C/C++)
J. Shen, X. Zuo, J. Li, W. Yang and H. Ling: A novel pixel neighborhood differential statistic feature for pedestrian and face detection . Pattern Recognition 2017.
408	MDSNet			62.74 %	85.94 %	50.27 %	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.
409	MODet			62.54 %	66.06 %	60.04 %	0.05 s	GTX1080Ti
Y. Zhang, Z. Xiang, C. Qiao and S. Chen: Accurate and Real-Time Object Detection Based on Bird's Eye View on 3D Point Clouds. 2019 International Conference on 3D Vision (3DV) 2019.
410	CIE + DM3D			61.54 %	79.36 %	53.56 %	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.
411	SubCat48LDCF		code	61.16 %	78.86 %	44.69 %	0.5 s	8 cores @ 3.5 Ghz (Matlab + C/C++)
A. Fernández-Baldera, J. Buenaposada and L. Baumela: BAdaCost: Multi-class Boosting with Costs . Pattern Recognition 2018.
412	DPM-C8B1			60.21 %	75.24 %	44.73 %	15 s	4 cores @ 2.5 Ghz (Matlab + C/C++)
J. Yebes, L. Bergasa and M. García-Garrido: Visual Object Recognition with 3D-Aware Features in KITTI Urban Scenes. Sensors 2015. J. Yebes, L. Bergasa, R. Arroyo and A. Lázaro: Supervised learning and evaluation of KITTI's cars detector with DPM. IV 2014.
413	SAMME48LDCF		code	58.38 %	77.47 %	44.43 %	0.5 s	8 cores @ 3.5 Ghz (Matlab + C/C++)
A. Fernández-Baldera, J. Buenaposada and L. Baumela: BAdaCost: Multi-class Boosting with Costs . Pattern Recognition 2018.
414	LSVM-MDPM-sv			58.36 %	71.11 %	43.22 %	10 s	4 cores @ 3.0 Ghz (C/C++)
P. Felzenszwalb, R. Girshick, D. McAllester and D. Ramanan: Object Detection with Discriminatively Trained Part-Based Models. PAMI 2010. A. Geiger, C. Wojek and R. Urtasun: Joint 3D Estimation of Objects and Scene Layout. NIPS 2011.
415	BirdNet			57.12 %	79.30 %	55.16 %	0.11 s	Titan Xp (Caffe)
J. Beltrán, C. Guindel, F. Moreno, D. Cruzado, F. García and A. Escalera: BirdNet: A 3D Object Detection Framework from LiDAR Information. 2018 21st International Conference on Intelligent Transportation Systems (ITSC) 2018.
416	ACF-SC			56.60 %	69.90 %	43.61 %	<0.3 s	1 core @ >3.5 Ghz (Matlab + C/C++)
C. Cadena, A. Dick and I. Reid: A Fast, Modular Scene Understanding System using Context-Aware Object Detection. Robotics and Automation (ICRA), 2015 IEEE International Conference on 2015.
417	LSVM-MDPM-us		code	55.95 %	68.94 %	41.45 %	10 s	4 cores @ 3.0 Ghz (C/C++)
P. Felzenszwalb, R. Girshick, D. McAllester and D. Ramanan: Object Detection with Discriminatively Trained Part-Based Models. PAMI 2010.
418	ACF			54.09 %	63.05 %	41.81 %	0.2 s	1 core @ >3.5 Ghz (Matlab + C/C++)
P. Doll\'ar, R. Appel, S. Belongie and P. Perona: Fast Feature Pyramids for Object Detection. PAMI 2014. P. Doll\'ar: Piotr's Image and Video Matlab Toolbox (PMT). .
419	Mono3D_PLiDAR		code	53.36 %	80.85 %	44.80 %	0.1 s	NVIDIA GeForce 1080 (pytorch)
X. Weng and K. Kitani: Monocular 3D Object Detection with Pseudo-LiDAR Point Cloud. arXiv:1903.09847 2019.
420	RT3D-GMP			51.95 %	62.41 %	39.14 %	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.
421	VeloFCN			51.82 %	70.53 %	45.70 %	1 s	GPU @ 2.5 Ghz (Python + C/C++)
B. Li, T. Zhang and T. Xia: Vehicle Detection from 3D Lidar Using Fully Convolutional Network. RSS 2016 .
422	BEVHeight++		code	49.99 %	59.85 %	42.86 %	0.04 s	1 core @ 2.5 Ghz (C/C++)
L. Yang, T. Tang, J. Li, P. Chen, K. Yuan, L. Wang, Y. Huang, X. Zhang and K. Yu: Bevheight++: Toward robust visual centric 3d object detection. arXiv preprint arXiv:2309.16179 2023.
423	Vote3D			45.94 %	54.38 %	40.48 %	0.5 s	4 cores @ 2.8 Ghz (C/C++)
D. Wang and I. Posner: Voting for Voting in Online Point Cloud Object Detection. Proceedings of Robotics: Science and Systems 2015.
424	TopNet-HighRes			45.85 %	58.04 %	41.11 %	101ms	NVIDIA GeForce 1080 Ti (tensorflow-gpu)
S. Wirges, T. Fischer, C. Stiller and J. Frias: Object Detection and Classification in Occupancy Grid Maps Using Deep Convolutional Networks. 2018 21st International Conference on Intelligent Transportation Systems (ITSC) 2018.
425	RT3DStereo			45.81 %	56.53 %	37.63 %	0.08 s	GPU @ 2.5 Ghz (C/C++)
H. Königshof, N. Salscheider and C. Stiller: Realtime 3D Object Detection for Automated Driving Using Stereo Vision and Semantic Information. Proc. IEEE Intl. Conf. Intelligent Transportation Systems 2019.
426	Multimodal Detection		code	45.46 %	63.91 %	37.25 %	0.06 s	GPU @ 3.5 Ghz (Matlab + C/C++)
A. Asvadi, L. Garrote, C. Premebida, P. Peixoto and U. Nunes: Multimodal vehicle detection: fusing 3D- LIDAR and color camera data. Pattern Recognition Letters 2017.
427	RT3D			39.69 %	50.33 %	40.04 %	0.09 s	GPU @ 1.8Ghz
Y. Zeng, Y. Hu, S. Liu, J. Ye, Y. Han, X. Li and N. Sun: RT3D: Real-Time 3-D Vehicle Detection in LiDAR Point Cloud for Autonomous Driving. IEEE Robotics and Automation Letters 2018.
428	VoxelJones		code	36.31 %	43.89 %	34.16 %	.18 s	1 core @ 2.5 Ghz (Python + C/C++)
M. Motro and J. Ghosh: Vehicular Multi-object Tracking with Persistent Detector Failures. arXiv preprint arXiv:1907.11306 2019.
429	CSoR		code	21.66 %	31.52 %	17.99 %	3.5 s	4 cores @ >3.5 Ghz (Python + C/C++)
L. Plotkin: PyDriver: Entwicklung eines Frameworks für räumliche Detektion und Klassifikation von Objekten in Fahrzeugumgebung. 2015.
430	mBoW			21.59 %	35.22 %	16.89 %	10 s	1 core @ 2.5 Ghz (C/C++)
J. Behley, V. Steinhage and A. Cremers: Laser-based Segment Classification Using a Mixture of Bag-of-Words. Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2013.
431	DepthCN		code	21.18 %	37.45 %	16.08 %	2.3 s	GPU @ 3.5 Ghz (Matlab)
A. Asvadi, L. Garrote, C. Premebida, P. Peixoto and U. Nunes: DepthCN: vehicle detection using 3D- LIDAR and convnet. IEEE ITSC 2017.
432	YOLOv2		code	14.31 %	26.74 %	10.94 %	0.02 s	GPU @ 3.5 Ghz (C/C++)
J. Redmon, S. Divvala, R. Girshick and A. Farhadi: You only look once: Unified, real-time object detection. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition 2016. J. Redmon and A. Farhadi: YOLO9000: Better, Faster, Stronger. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition 2017.
433	TopNet-UncEst			6.24 %	7.24 %	5.42 %	0.09 s	NVIDIA GeForce 1080 Ti (tensorflow-gpu)
S. Wirges, M. Braun, M. Lauer and C. Stiller: Capturing Object Detection Uncertainty in Multi-Layer Grid Maps. 2019.
434	TopNet-Retina			5.00 %	6.82 %	4.52 %	52ms	GeForce 1080Ti (tensorflow-gpu, v1.12)
S. Wirges, T. Fischer, C. Stiller and J. Frias: Object Detection and Classification in Occupancy Grid Maps Using Deep Convolutional Networks. 2018 21st International Conference on Intelligent Transportation Systems (ITSC) 2018.
435	f3sd		code	0.01 %	0.01 %	0.02 %	1.67 s	1 core @ 2.5 Ghz (C/C++)
436	TopNet-DecayRate			0.01 %	0.00 %	0.01 %	92 ms	NVIDIA GeForce 1080 Ti (tensorflow-gpu)
S. Wirges, T. Fischer, C. Stiller and J. Frias: Object Detection and Classification in Occupancy Grid Maps Using Deep Convolutional Networks. 2018 21st International Conference on Intelligent Transportation Systems (ITSC) 2018.
437	LaserNet			0.00 %	0.00 %	0.00 %	12 ms	GPU @ 2.5 Ghz (C/C++)
G. Meyer, A. Laddha, E. Kee, C. Vallespi-Gonzalez and C. Wellington: LaserNet: An Efficient Probabilistic 3D Object Detector for Autonomous Driving. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2019.
438	DA3D+KM3D+v2-99		code	0.00 %	0.00 %	0.00 %	0.120s	GPU @ 2.5 Ghz (Python)
Y. Jia, J. Wang, H. Pan and W. Sun: Enhancing Monocular 3-D Object Detection Through Data Augmentation Strategies. IEEE Transactions on Instrumentation and Measurement 2024.
439	Monohan			0.00 %	0.00 %	0.00 %	0.05 s	1 core @ 2.5 Ghz (Python)
440	Neighbor-Vote			0.00 %	0.00 %	0.00 %	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.
441	DA3D+KM3D		code	0.00 %	0.00 %	0.00 %	0.02 s	GPU @ 2.5 Ghz (Python)
Y. Jia, J. Wang, H. Pan and W. Sun: Enhancing Monocular 3-D Object Detection Through Data Augmentation Strategies. IEEE Transactions on Instrumentation and Measurement 2024.
442	DA3D		code	0.00 %	0.00 %	0.00 %	0.03 s	1 core @ 2.5 Ghz (Python)
Y. Jia, J. Wang, H. Pan and W. Sun: Enhancing Monocular 3-D Object Detection Through Data Augmentation Strategies. IEEE Transactions on Instrumentation and Measurement 2024.

Pedestrian

	Method	Setting	Code	Moderate	Easy	Hard	Runtime	Environment
1	F-PointNet		code	80.13 %	89.83 %	75.05 %	0.17 s	GPU @ 3.0 Ghz (Python)
C. Qi, W. Liu, C. Wu, H. Su and L. Guibas: Frustum PointNets for 3D Object Detection from RGB-D Data. arXiv preprint arXiv:1711.08488 2017.
2	HHA-TFFEM			78.53 %	87.01 %	74.70 %	0.14 s	GPU @ 2.5 Ghz (Python + C/C++)
F. Tan, Z. Xia, Y. Ma and X. Feng: 3D Sensor Based Pedestrian Detection by Integrating Improved HHA Encoding and Two-Branch Feature Fusion. Remote Sensing 2022.
3	TuSimple		code	78.40 %	88.87 %	73.66 %	1.6 s	GPU @ 2.5 Ghz (Python + C/C++)
F. Yang, W. Choi and Y. Lin: Exploit all the layers: Fast and accurate cnn object detector with scale dependent pooling and cascaded rejection classifiers. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition 2016. K. He, X. Zhang, S. Ren and J. Sun: Deep residual learning for image recognition. Proceedings of the IEEE conference on computer vision and pattern recognition 2016.
4	RRC		code	76.61 %	85.98 %	71.47 %	3.6 s	GPU @ 2.5 Ghz (C/C++)
J. Ren, X. Chen, J. Liu, W. Sun, J. Pang, Q. Yan, Y. Tai and L. Xu: Accurate Single Stage Detector Using Recurrent Rolling Convolution. CVPR 2017.
5	WSSN			76.42 %	84.91 %	71.86 %	0.37 s	GPU @ >3.5 Ghz (Python + C/C++)
Z. Guo, W. Liao, Y. Xiao, P. Veelaert and W. Philips: Weak Segmentation Supervised Deep Neural Networks for Pedestrian Detection. Pattern Recognition 2021.
6	ECP Faster R-CNN			76.25 %	85.96 %	70.55 %	0.25 s	GPU @ 2.5 Ghz (Python)
M. Braun, S. Krebs, F. Flohr and D. Gavrila: The EuroCity Persons Dataset: A Novel Benchmark for Object Detection. CoRR 2018.
7	Aston-EAS			76.07 %	86.71 %	70.02 %	0.24 s	GPU @ 2.5 Ghz (Python + C/C++)
J. Wei, J. He, Y. Zhou, K. Chen, Z. Tang and Z. Xiong: Enhanced Object Detection With Deep Convolutional Neural Networks for Advanced Driving Assistance. IEEE Transactions on Intelligent Transportation Systems 2019.
8	MHN			75.99 %	87.21 %	69.50 %	0.39 s	GPU @ 2.5 Ghz (Python)
J. Cao, Y. Pang, S. Zhao and X. Li: High-Level Semantic Networks for Multi- Scale Object Detection. IEEE Transactions on Circuits and Systems for Video Technology 2019.
9	FFNet		code	75.81 %	87.17 %	69.86 %	1.07 s	GPU @ 1.5 Ghz (Python)
C. Zhao, Y. Qian and M. Yang: Monocular Pedestrian Orientation Estimation Based on Deep 2D-3D Feedforward. Pattern Recognition 2019.
10	SJTU-HW			75.81 %	87.17 %	69.86 %	0.85s	GPU @ 1.5 Ghz (Python + C/C++)
S. Zhang, X. Zhao, L. Fang, F. Haiping and S. Haitao: LED: LOCALIZATION-QUALITY ESTIMATION EMBEDDED DETECTOR. IEEE International Conference on Image Processing 2018. L. Fang, X. Zhao and S. Zhang: Small-objectness sensitive detection based on shifted single shot detector. Multimedia Tools and Applications 2018.
11	MS-CNN		code	74.89 %	85.71 %	68.99 %	0.4 s	GPU @ 2.5 Ghz (C/C++)
Z. Cai, Q. Fan, R. Feris and N. Vasconcelos: A Unified Multi-scale Deep Convolutional Neural Network for Fast Object Detection. ECCV 2016.
12	DD3D		code	73.09 %	85.71 %	68.54 %	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) .
13	F-ConvNet		code	72.91 %	83.63 %	67.18 %	0.47 s	GPU @ 2.5 Ghz (Python + C/C++)
Z. Wang and K. Jia: Frustum ConvNet: Sliding Frustums to Aggregate Local Point-Wise Features for Amodal 3D Object Detection. IROS 2019.
14	GN			72.29 %	82.93 %	65.56 %	1 s	GPU @ 2.5 Ghz (Matlab + C/C++)
S. Jung and K. Hong: Deep network aided by guiding network for pedestrian detection. Pattern Recognition Letters 2017.
15	SubCNN			72.27 %	84.88 %	66.82 %	2 s	GPU @ 3.5 Ghz (Python + C/C++)
Y. Xiang, W. Choi, Y. Lin and S. Savarese: Subcategory-aware Convolutional Neural Networks for Object Proposals and Detection. IEEE Winter Conference on Applications of Computer Vision (WACV) 2017.
16	VMVS			71.82 %	82.80 %	66.85 %	0.25 s	GPU @ 2.5 Ghz (Python)
J. Ku, A. Pon, S. Walsh and S. Waslander: Improving 3D object detection for pedestrians with virtual multi-view synthesis orientation estimation. IROS 2019.
17	EOTL		code	71.45 %	84.74 %	64.58 %	TBD s	1 core @ 2.5 Ghz (Python + C/C++)
R. Yang, Z. Yan, T. Yang, Y. Wang and Y. Ruichek: Efficient Online Transfer Learning for Road Participants Detection in Autonomous Driving. IEEE Sensors Journal 2023.
18	IVA		code	71.37 %	84.61 %	64.90 %	0.4 s	GPU @ 2.5 Ghz (C/C++)
Y. Zhu, J. Wang, C. Zhao, H. Guo and H. Lu: Scale-adaptive Deconvolutional Regression Network for Pedestrian Detection. ACCV 2016. S. Ren, K. He, R. Girshick and J. Sun: Faster R-CNN: Towards real-time object detection with region proposal networks. Advances in neural information processing systems 2015.
19	MM-MRFC			70.76 %	83.79 %	64.81 %	0.05 s	GPU @ 2.5 Ghz (C/C++)
A. Costea, R. Varga and S. Nedevschi: Fast Boosting based Detection using Scale Invariant Multimodal Multiresolution Filtered Features. CVPR 2017.
20	SDP+RPN			70.42 %	82.07 %	65.09 %	0.4 s	GPU @ 2.5 Ghz (Python + C/C++)
F. Yang, W. Choi and Y. Lin: Exploit All the Layers: Fast and Accurate CNN Object Detector with Scale Dependent Pooling and Cascaded Rejection Classifiers. Proceedings of the IEEE International Conference on Computer Vision and Pattern Recognition 2016. S. Ren, K. He, R. Girshick and J. Sun: Faster R-CNN: Towards real-time object detection with region proposal networks. Advances in Neural Information Processing Systems 2015.
21	3DOP		code	69.57 %	83.17 %	63.48 %	3s	GPU @ 2.5 Ghz (Matlab + C/C++)
X. Chen, K. Kundu, Y. Zhu, A. Berneshawi, H. Ma, S. Fidler and R. Urtasun: 3D Object Proposals for Accurate Object Class Detection. NIPS 2015.
22	MonoPSR		code	68.56 %	85.60 %	63.34 %	0.2 s	GPU @ 3.5 Ghz (Python)
J. Ku*, A. Pon* and S. Waslander: Monocular 3D Object Detection Leveraging Accurate Proposals and Shape Reconstruction. CVPR 2019.
23	DeepStereoOP			68.46 %	83.00 %	63.35 %	3.4 s	GPU @ 3.5 Ghz (Matlab + C/C++)
C. Pham and J. Jeon: Robust Object Proposals Re-ranking for Object Detection in Autonomous Driving Using Convolutional Neural Networks. Signal Processing: Image Communiation 2017.
24	sensekitti		code	68.41 %	82.72 %	62.72 %	4.5 s	GPU @ 2.5 Ghz (Python + C/C++)
B. Yang, J. Yan, Z. Lei and S. Li: Craft Objects from Images. CVPR 2016.
25	MonoAFKD			67.83 %	82.92 %	60.90 %	0.03 s	1 core @ 2.5 Ghz (C/C++)
26	MonoLSS			67.78 %	82.88 %	60.87 %	0.04 s	1 core @ 2.5 Ghz (Python)
Z. Li, J. Jia and Y. Shi: MonoLSS: Learnable Sample Selection For Monocular 3D Detection. International Conference on 3D Vision 2024.
27	Frustum-PointPillars		code	67.51 %	76.80 %	63.81 %	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.
28	FII-CenterNet		code	67.31 %	81.32 %	61.29 %	0.09 s	GPU @ 2.5 Ghz (Python)
S. Fan, F. Zhu, S. Chen, H. Zhang, B. Tian, Y. Lv and F. Wang: FII-CenterNet: An Anchor-Free Detector With Foreground Attention for Traffic Object Detection. IEEE Transactions on Vehicular Technology 2021.
29	Mono3D		code	67.29 %	80.30 %	62.23 %	4.2 s	GPU @ 2.5 Ghz (Matlab + C/C++)
X. Chen, K. Kundu, Z. Zhang, H. Ma, S. Fidler and R. Urtasun: Monocular 3D Object Detection for Autonomous Driving. CVPR 2016.
30	Faster R-CNN		code	66.24 %	79.97 %	61.09 %	2 s	GPU @ 3.5 Ghz (Python + C/C++)
S. Ren, K. He, R. Girshick and J. Sun: Faster R-CNN: Towards Real- Time Object Detection with Region Proposal Networks. NIPS 2015.
31	VPFNet		code	65.68 %	75.03 %	61.95 %	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. C. Wang, H. Chen, Y. Chen, P. Hsiao and L. Fu: VoPiFNet: Voxel-Pixel Fusion Network for Multi-Class 3D Object Detection. IEEE Transactions on Intelligent Transportation Systems 2024.
32	UPIDet		code	65.50 %	75.07 %	63.09 %	0.11 s	1 core @ 2.5 Ghz (C/C++)
Y. Zhang, Q. Zhang, J. Hou, Y. Yuan and G. Xing: Unleash the Potential of Image Branch for Cross-modal 3D Object Detection. Thirty-seventh Conference on Neural Information Processing Systems 2023.
33	EQ-PVRCNN		code	65.01 %	77.19 %	61.95 %	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.
34	CasA++		code	64.94 %	74.41 %	62.35 %	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.
35	TED		code	64.74 %	74.26 %	62.08 %	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.
36	LoGoNet		code	64.55 %	72.47 %	62.24 %	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.
37	SDP+CRC (ft)			64.36 %	79.22 %	59.16 %	0.6 s	GPU @ 2.5 Ghz (C/C++)
F. Yang, W. Choi and Y. Lin: Exploit All the Layers: Fast and Accurate CNN Object Detector with Scale Dependent Pooling and Cascaded Rejection Classifiers. Proceedings of the IEEE International Conference on Computer Vision and Pattern Recognition 2016.
38	LCANet			64.13 %	73.98 %	60.14 %	1 s	1 core @ 2.5 Ghz (C/C++)
39	Pose-RCNN			63.54 %	80.07 %	57.02 %	2 s	>8 cores @ 2.5 Ghz (Python)
M. Braun, Q. Rao, Y. Wang and F. Flohr: Pose-RCNN: Joint object detection and pose estimation using 3D object proposals. Intelligent Transportation Systems (ITSC), 2016 IEEE 19th International Conference on 2016.
40	USVLab BSAODet		code	63.21 %	72.86 %	59.48 %	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.
41	MLF-DET			63.09 %	70.25 %	59.23 %	0.09 s	1 core @ 2.5 Ghz (C/C++)
Z. Lin, Y. Shen, S. Zhou, S. Chen and N. Zheng: MLF-DET: Multi-Level Fusion for Cross- Modal 3D Object Detection. International Conference on Artificial Neural Networks 2023.
42	FIRM-Net_SCF+			62.91 %	72.98 %	60.31 %	0.07 s	1 core @ 2.5 Ghz (Python)
43	CFM			62.84 %	74.76 %	56.06 %	<2 s	GPU @ 2.5 Ghz (Matlab + C/C++)
Q. Hu, P. Wang, C. Shen, A. Hengel and F. Porikli: Pushing the Limits of Deep CNNs for Pedestrian Detection. IEEE Transactions on Circuits and Systems for Video Technology 2017.
44	CasA		code	62.73 %	72.65 %	60.12 %	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.
45	FIRM-Net-SCF			62.63 %	72.78 %	59.99 %	0.07 s	1 core @ 2.5 Ghz (Python)
46	Fast-CLOCs			62.57 %	76.22 %	60.13 %	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.
47	PiFeNet		code	62.35 %	72.74 %	59.29 %	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.
48	HotSpotNet			62.31 %	71.43 %	59.24 %	0.04 s	1 core @ 2.5 Ghz (Python + C/C++)
Q. Chen, L. Sun, Z. Wang, K. Jia and A. Yuille: object as hotspots. Proceedings of the European Conference on Computer Vision (ECCV) 2020.
49	BVIFusion+			62.06 %	71.81 %	58.21 %	0.09 s	1 core @ 2.5 Ghz (Python)
50	P2V-RCNN			61.83 %	71.76 %	59.29 %	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.
51	MonoPair			61.57 %	78.81 %	56.51 %	0.06 s	GPU @ 2.5 Ghz (Python + C/C++)
Y. Chen, L. Tai, K. Sun and M. Li: MonoPair: Monocular 3D Object Detection Using Pairwise Spatial Relationships. The IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2020.
52	LumiNet		code	61.38 %	72.01 %	58.94 %	0.1 s	1 core @ 2.5 Ghz (Python)
53	monodle		code	61.29 %	78.66 %	56.18 %	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 .
54	RPN+BF		code	61.22 %	77.06 %	55.22 %	0.6 s	GPU @ 2.5 Ghz (Matlab + C/C++)
L. Zhang, L. Lin, X. Liang and K. He: Is Faster R-CNN Doing Well for Pedestrian Detection?. ECCV 2016.
55	SpaA			61.08 %	70.72 %	58.80 %	0.1 s	1 core @ 2.5 Ghz (C/C++)
56	AFFN-G			60.99 %	69.06 %	58.89 %	0.5 s	1 core @ 2.5 Ghz (C/C++)
57	GEFPN			60.99 %	69.06 %	58.89 %	0.5 s	1 core @ 2.5 Ghz (C/C++)
58	GeVo			60.99 %	69.06 %	58.89 %	0.05 s	1 core @ 2.5 Ghz (C/C++)
59	3ONet			60.89 %	72.45 %	56.65 %	0.1 s	1 core @ 2.5 Ghz (C/C++)
H. Hoang and M. Yoo: 3ONet: 3-D Detector for Occluded Object Under Obstructed Conditions. IEEE Sensors Journal 2023.
60	Regionlets			60.83 %	73.79 %	54.72 %	1 s	>8 cores @ 2.5 Ghz (C/C++)
X. Wang, M. Yang, S. Zhu and Y. Lin: Regionlets for Generic Object Detection. T-PAMI 2015. W. Zou, X. Wang, M. Sun and Y. Lin: Generic Object Detection with Dense Neural Patterns and Regionlets. British Machine Vision Conference 2014. C. Long, X. Wang, G. Hua, M. Yang and Y. Lin: Accurate Object Detection with Location Relaxation and Regionlets Relocalization. Asian Conference on Computer Vision 2014.
61	PillarHist			60.78 %	71.70 %	57.66 %	0.01 s	1 core @ 2.5 Ghz (C/C++)
62	3DSSD		code	60.51 %	72.33 %	56.28 %	0.04 s	GPU @ 2.5 Ghz (Python + C/C++)
Z. Yang, Y. Sun, S. Liu and J. Jia: 3DSSD: Point-based 3D Single Stage Object Detector. CVPR 2020.
63	ACFNet			60.12 %	71.42 %	55.96 %	0.11 s	1 core @ 2.5 Ghz (C/C++)
Y. Tian, X. Zhang, X. Wang, J. Xu, J. Wang, R. Ai, W. Gu and W. Ding: ACF-Net: Asymmetric Cascade Fusion for 3D Detection With LiDAR Point Clouds and Images. IEEE Transactions on Intelligent Vehicles 2023.
64	vsis-PHNet			60.10 %	71.15 %	57.66 %	0.03 s	1 core @ 2.5 Ghz (C/C++)
65	PHNetp			60.10 %	71.15 %	57.66 %	0.03 s	1 core @ 2.5 Ghz (C/C++)
66	dsvd+vx			59.75 %	69.79 %	57.34 %	0.1 s	1 core @ 2.5 Ghz (C/C++)
67	DPPFA-Net			59.52 %	67.68 %	56.87 %	0.1 s	1 core @ 2.5 Ghz (Python)
J. Wang, X. Kong, H. Nishikawa, Q. Lian and H. Tomiyama: Dynamic Point-Pixel Feature Alignment for Multi-modal 3D Object Detection. IEEE Internet of Things Journal 2023.
68	ACDet		code	59.51 %	71.27 %	57.03 %	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.
69	LPFusion_three_class			59.48 %	69.28 %	55.55 %	0.1 s	1 core @ 2.5 Ghz (C/C++)
70	QD-3DT		code	59.26 %	78.41 %	54.37 %	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.
71	AM			59.09 %	77.32 %	54.25 %	0.04 s	1 core @ 2.5 Ghz (C/C++)
72	TANet		code	59.07 %	69.90 %	56.44 %	0.035s	GPU @ 2.5 Ghz (Python + C/C++)
Z. Liu, X. Zhao, T. Huang, R. Hu, Y. Zhou and X. Bai: TANet: Robust 3D Object Detection from Point Clouds with Triple Attention. AAAI 2020.
73	MonoUNI		code	58.97 %	76.17 %	53.99 %	0.04 s	1 core @ 2.5 Ghz (Python)
J. Jia, Z. Li and Y. Shi: MonoUNI: A Unified Vehicle and Infrastructure-side Monocular 3D Object Detection Network with Sufficient Depth Clues. Thirty-seventh Conference on Neural Information Processing Systems 2023.
74	SFA_IGCL_Focalsconv*		code	58.94 %	66.88 %	56.80 %	0.2 s	1 core @ 2.5 Ghz (C/C++)
75	SVFMamba		code	58.83 %	69.22 %	55.36 %	N/A s	1 core @ 2.5 Ghz (C/C++)
76	DSA-PV-RCNN		code	58.81 %	66.93 %	56.57 %	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.
77	SRDL			58.70 %	68.45 %	56.23 %	0.05 s	1 core @ 2.5 Ghz (Python + C/C++)
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78	FocalsConv*			58.61 %	66.08 %	55.20 %	0.2 s	1 core @ 2.5 Ghz (C/C++)
79	MMLab PV-RCNN		code	58.37 %	68.88 %	55.38 %	0.08 s	1 core @ 2.5 Ghz (Python + C/C++)
S. Shi, C. Guo, L. Jiang, Z. Wang, J. Shi, X. Wang and H. Li: PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detection. CVPR 2020.
80	PASS-PV-RCNN-Plus			58.31 %	67.45 %	55.92 %	1 s	1 core @ 2.5 Ghz (Python)
Anonymous: Leveraging Anchor-based LiDAR 3D Object Detection via Point Assisted Sample Selection. will submit to computer vision conference/journal 2024.
81	Point-GNN		code	58.20 %	71.59 %	54.06 %	0.6 s	GPU @ 2.5 Ghz (Python)
W. Shi and R. Rajkumar: Point-GNN: Graph Neural Network for 3D Object Detection in a Point Cloud. CVPR 2020.
82	MPC3DNet			58.20 %	66.33 %	55.97 %	0.05 s	GPU @ 1.5 Ghz (Python)
83	test			58.19 %	66.17 %	56.16 %	0.04 s	GPU @ 1.5 Ghz (Python + C/C++)
84	DeepParts			58.15 %	71.47 %	51.92 %	~1 s	GPU @ 2.5 Ghz (Matlab)
Y. Tian, P. Luo, X. Wang and X. Tang: Deep Learning Strong Parts for Pedestrian Detection. ICCV 2015.
85	CompACT-Deep			58.14 %	70.93 %	52.29 %	1 s	1 core @ 2.5 Ghz (Matlab + C/C++)
Z. Cai, M. Saberian and N. Vasconcelos: Learning Complexity-Aware Cascades for Deep Pedestrian Detection. ICCV 2015.
86	EPNet++			58.10 %	68.58 %	55.58 %	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.
87	DSGN++		code	58.09 %	69.70 %	54.45 %	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.
88	MMLab-PartA^2		code	57.96 %	68.78 %	54.01 %	0.08 s	GPU @ 2.5 Ghz (Python + C/C++)
S. Shi, Z. Wang, J. Shi, X. Wang and H. Li: From Points to Parts: 3D Object Detection from Point Cloud with Part-aware and Part-aggregation Network. IEEE Transactions on Pattern Analysis and Machine Intelligence 2020.
89	SVGA-Net			57.92 %	67.81 %	55.25 %	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.
90	AVOD-FPN		code	57.87 %	67.95 %	55.23 %	0.1 s	Titan X (Pascal)
J. Ku, M. Mozifian, J. Lee, A. Harakeh and S. Waslander: Joint 3D Proposal Generation and Object Detection from View Aggregation. IROS 2018.
91	HA-PillarNet			57.87 %	65.21 %	55.84 %	0.05 s	1 core @ 2.5 Ghz (Python)
92	Voxel RCNN-Focal*		code	57.74 %	65.53 %	55.67 %	0.2 s	1 core @ 2.5 Ghz (Python)
93	DFAF3D			57.65 %	67.45 %	53.89 %	0.05 s	1 core @ 2.5 Ghz (Python)
Q. Tang, X. Bai, J. Guo, B. Pan and W. Jiang: DFAF3D: A dual-feature-aware anchor-free single-stage 3D detector for point clouds. Image and Vision Computing 2023.
94	AFFN			57.59 %	66.29 %	55.14 %	0.5 s	1 core @ 2.5 Ghz (C/C++)
95	CGML			57.49 %	64.84 %	55.41 %	0.33 s	1 core @ 2.5 Ghz (C/C++)
96	Faraway-Frustum		code	57.35 %	67.88 %	54.42 %	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.
97	PDV		code	57.34 %	65.94 %	54.21 %	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.
98	SIF			57.32 %	67.78 %	54.86 %	0.1 s	1 core @ 2.5 Ghz (C/C++)
P. An: SIF. Submitted to CVIU 2021.
99	PG-RCNN		code	57.31 %	67.77 %	54.83 %	0.06 s	GPU @ 1.5 Ghz (Python)
I. Koo, I. Lee, S. Kim, H. Kim, W. Jeon and C. Kim: PG-RCNN: Semantic Surface Point Generation for 3D Object Detection. 2023.
100	FromVoxelToPoint		code	57.26 %	68.26 %	54.74 %	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.
101	MLFusion-VS			57.22 %	66.13 %	55.00 %	0.06 s	1 core @ 2.5 Ghz (C/C++)
102	SemanticVoxels			57.22 %	67.62 %	54.90 %	0.04 s	GPU @ 2.5 Ghz (Python + C/C++)
J. Fei, W. Chen, P. Heidenreich, S. Wirges and C. Stiller: SemanticVoxels: Sequential Fusion for 3D Pedestrian Detection using LiDAR Point Cloud and Semantic Segmentation. MFI 2020.
103	IA-SSD (single)		code	56.87 %	66.69 %	54.68 %	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.
104	CAT-Det			56.75 %	67.15 %	53.44 %	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.
105	FRCNN+Or		code	56.68 %	71.64 %	51.53 %	0.09 s	Titan Xp GPU
C. Guindel, D. Martin and J. Armingol: Fast Joint Object Detection and Viewpoint Estimation for Traffic Scene Understanding. IEEE Intelligent Transportation Systems Magazine 2018. C. Guindel, D. Martin and J. Armingol: Joint Object Detection and Viewpoint Estimation using CNN features. IEEE International Conference on Vehicular Electronics and Safety (ICVES) 2017.
106	FilteredICF			56.53 %	69.79 %	50.32 %	~ 2 s	>8 cores @ 2.5 Ghz (Matlab + C/C++)
S. Zhang, R. Benenson and B. Schiele: Filtered Channel Features for Pedestrian Detection. CVPR 2015.
107	R2Pfusion-Det			56.52 %	67.09 %	54.46 %	0.3 s	1 core @ 2.5 Ghz (C/C++)
108	R50_SACINet			56.47 %	67.56 %	52.71 %	0.06 s	1 core @ 2.5 Ghz (C/C++)
109	HMNet			56.46 %	67.93 %	53.96 %	0.1 s	1 core @ 2.5 Ghz (C/C++)
110	ARPNET			56.42 %	69.08 %	52.69 %	0.08 s	GPU @ 2.5 Ghz (Python + C/C++)
Y. Ye, C. Zhang and X. Hao: ARPNET: attention region proposal network for 3D object detection. Science China Information Sciences 2019.
111	MonoRUn		code	56.40 %	73.05 %	51.40 %	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.
112	MV-RGBD-RF			56.18 %	72.99 %	49.72 %	4 s	4 cores @ 2.5 Ghz (C/C++)
A. Gonzalez, D. Vazquez, A. Lopez and J. Amores: On-Board Object Detection: Multicue, Multimodal, and Multiview Random Forest of Local Experts.. IEEE Trans. on Cybernetics 2016. A. Gonzalez, G. Villalonga, J. Xu, D. Vazquez, J. Amores and A. Lopez: Multiview Random Forest of Local Experts Combining RGB and LIDAR data for Pedestrian Detection. IEEE Intelligent Vehicles Symposium (IV) 2015.
113	HMFI		code	55.96 %	66.20 %	53.24 %	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.
114	MGAF-3DSSD		code	55.80 %	66.31 %	52.02 %	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.
115	GUPNet		code	55.65 %	74.95 %	48.44 %	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.
116	MLOD		code	55.62 %	68.42 %	51.45 %	0.12 s	GPU @ 1.5 Ghz (Python)
J. Deng and K. Czarnecki: MLOD: A multi-view 3D object detection based on robust feature fusion method. arXiv preprint arXiv:1909.04163 2019.
117	AFFN-Ga			55.60 %	64.75 %	53.23 %	0.5 s	1 core @ 2.5 Ghz (C/C++)
118	L_SACINet			55.37 %	65.81 %	51.63 %	0.04 s	1 core @ 2.5 Ghz (C/C++)
119	SAKD-MR-Res18			55.20 %	74.40 %	48.08 %	0.03 s	1 core @ 2.5 Ghz (C/C++)
120	MonoMH		code	55.19 %	73.25 %	50.19 %	0.04 s	1 core @ 2.5 Ghz (Python)
121	DEVIANT		code	55.16 %	74.27 %	50.21 %	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.
122	PointPillars		code	55.10 %	65.29 %	52.39 %	16 ms	1080ti GPU and Intel i7 CPU
A. Lang, S. Vora, H. Caesar, L. Zhou, J. Yang and O. Beijbom: PointPillars: Fast Encoders for Object Detection from Point Clouds. CVPR 2019.
123	StereoDistill			55.09 %	69.00 %	50.95 %	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.
124	STD		code	55.04 %	68.33 %	50.85 %	0.08 s	GPU @ 2.5 Ghz (Python + C/C++)
Z. Yang, Y. Sun, S. Liu, X. Shen and J. Jia: STD: Sparse-to-Dense 3D Object Detector for Point Cloud. ICCV 2019.
125	OPA-3D		code	54.92 %	73.93 %	47.87 %	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.
126	Vote3Deep			54.80 %	67.99 %	51.17 %	1.5 s	4 cores @ 2.5 Ghz (C/C++)
M. Engelcke, D. Rao, D. Zeng Wang, C. Hay Tong and I. Posner: Vote3Deep: Fast Object Detection in 3D Point Clouds Using Efficient Convolutional Neural Networks. ArXiv e-prints 2016.
127	M3DeTR		code	54.78 %	63.15 %	52.49 %	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.
128	CAIA_PRO		code	54.70 %	64.33 %	52.36 %	0.01 s	1 core @ 2.5 Ghz (C/C++)
129	L-AUG			54.61 %	65.71 %	51.67 %	0.1 s	1 core @ 2.5 Ghz (C/C++)
T. Cortinhal, I. Gouigah and E. Aksoy: Semantics-aware LiDAR-Only Pseudo Point Cloud Generation for 3D Object Detection. 2023.
130	SecAtten			54.61 %	65.63 %	51.02 %	0.1 s	1 core @ 2.5 Ghz (C/C++)
131	MonoCoP			54.41 %	70.75 %	49.66 %	0.01 s	1 core @ 2.5 Ghz (C/C++)
132	AEPF			54.41 %	64.95 %	51.22 %	0.05 s	GPU @ 2.5 Ghz (Python)
133	epBRM		code	54.13 %	62.90 %	51.95 %	0.10 s	1 core @ 2.5 Ghz (C/C++)
K. Shin: Improving a Quality of 3D Object Detection by Spatial Transformation Mechanism. arXiv preprint arXiv:1910.04853 2019.
134	DVFENet			54.13 %	63.54 %	51.79 %	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.
135	SA V1			54.09 %	64.15 %	51.64 %	0.5 s	GPU @ 2.5 Ghz (Python)
136	XView			53.83 %	62.27 %	51.61 %	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.
137	monospb			53.79 %	72.50 %	48.89 %	0.01 s	1 core @ 2.5 Ghz (Python)
138	PointPainting			53.76 %	61.86 %	50.61 %	0.4 s	GPU @ 2.5 Ghz (Python + C/C++)
S. Vora, A. Lang, B. Helou and O. Beijbom: PointPainting: Sequential Fusion for 3D Object Detection. CVPR 2020.
139	PDV2			53.54 %	65.59 %	47.65 %	3.7 s	1 core @ 3.0 Ghz Matlab (C/C++)
J. Shen, X. Zuo, J. Li, W. Yang and H. Ling: A novel pixel neighborhood differential statistic feature for pedestrian and face detection . Pattern Recognition 2017.
140	Mix-Teaching		code	53.52 %	67.34 %	47.45 %	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.
141	Cube R-CNN		code	53.27 %	64.96 %	47.84 %	0.05 s	GPU @ 2.5 Ghz (Python)
G. Brazil, A. Kumar, J. Straub, N. Ravi, J. Johnson and G. Gkioxari: Omni3D: A Large Benchmark and Model for 3D Object Detection in the Wild. CVPR 2023.
142	TAFT			53.15 %	67.62 %	47.08 %	0.2 s	1 core @ 2.5 Ghz (C/C++)
J. Shen, X. Zuo, W. Yang, D. Prokhorov, X. Mei and H. Ling: Differential Features for Pedestrian Detection: A Taylor Series Perspective. IEEE Transactions on Intelligent Transportation Systems 2018.
143	MSMA V1			53.10 %	62.22 %	50.28 %	0.5 s	GPU @ 2.5 Ghz (Python)
144	Disp R-CNN		code	52.98 %	71.79 %	48.20 %	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.
145	Disp R-CNN (velo)		code	52.90 %	71.63 %	48.15 %	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	pAUCEnsT			52.88 %	65.84 %	46.97 %	60 s	1 core @ 2.5 Ghz (Matlab + C/C++)
S. Paisitkriangkrai, C. Shen and A. Hengel: Pedestrian Detection with Spatially Pooled Features and Structured Ensemble Learning. arXiv 2014.
147	SparVox3D			52.84 %	69.33 %	48.49 %	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.
148	GSG-FPS		code	52.66 %	61.73 %	50.50 %	0.01 s	1 core @ 2.5 Ghz (C/C++)
149	PFF3D		code	52.53 %	62.12 %	50.27 %	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.
150	IA-SSD (multi)		code	52.45 %	65.07 %	50.20 %	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.
151	S-AT GCN			52.30 %	62.01 %	50.10 %	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.
152	MMLAB LIGA-Stereo		code	52.18 %	65.59 %	49.29 %	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.
153	Anonymous			52.17 %	62.66 %	49.57 %	0.02 s	GPU @ 2.5 Ghz (Python)
154	HINTED		code	51.95 %	66.52 %	47.83 %	0.04 s	1 core @ 2.5 Ghz (C/C++)
Q. Xia, W. Ye, H. Wu, S. Zhao, L. Xing, X. Huang, J. Deng, X. Li, C. Wen and C. Wang: HINTED: Hard Instance Enhanced Detector with Mixed-Density Feature Fusion for Sparsely- Supervised 3D Object Detection. Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition 2024.
155	PCNet3D++			51.69 %	62.37 %	49.14 %	0.5 s	GPU @ 3.5 Ghz (Python)
156	PCNet3D			51.69 %	61.97 %	49.20 %	0.05 s	GPU @ 3.5 Ghz (Python)
157	Plane-Constraints		code	51.57 %	64.64 %	46.98 %	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.
158	Shift R-CNN (mono)		code	51.30 %	70.86 %	46.37 %	0.25 s	GPU @ 1.5 Ghz (Python)
A. Naiden, V. Paunescu, G. Kim, B. Jeon and M. Leordeanu: Shift R-CNN: Deep Monocular 3D Object Detection With Closed-form Geometric Constraints. ICIP 2019.
159	SeSame-point		code	51.27 %	60.29 %	49.06 %	N/A s	TITAN RTX @ 1.35 Ghz (Python)
H. O, C. Yang and K. Huh: SeSame: Simple, Easy 3D Object Detection with Point-Wise Semantics. Proceedings of the Asian Conference on Computer Vision (ACCV) 2024.
160	PL++: PV-RCNN++			50.51 %	60.54 %	47.30 %	0.342 s	RTX 4060Ti (Python)
161	Dual_BEV			49.85 %	61.04 %	46.80 %	0.5 s	GPU @ 2.5 Ghz (Python)
162	DensePointPillars			49.81 %	58.95 %	47.05 %	0.03 s	GPU @ 2.5 Ghz (Python)
163	SeSame-voxel		code	49.74 %	60.69 %	45.64 %	N/A s	TITAN RTX @ 1.35 Ghz (Python)
H. O, C. Yang and K. Huh: SeSame: Simple, Easy 3D Object Detection with Point-Wise Semantics. Proceedings of the Asian Conference on Computer Vision (ACCV) 2024.
164	SCNet			49.61 %	60.95 %	46.91 %	0.04 s	GPU @ 3.0 Ghz (Python)
Z. Wang, H. Fu, L. Wang, L. Xiao and B. Dai: SCNet: Subdivision Coding Network for Object Detection Based on 3D Point Cloud. IEEE Access 2019.
165	MMLab-PointRCNN		code	49.41 %	58.93 %	46.44 %	0.1 s	GPU @ 2.5 Ghz (Python + C/C++)
S. Shi, X. Wang and H. Li: Pointrcnn: 3d object proposal generation and detection from point cloud. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition 2019.
166	HomoLoss(monoflex)		code	48.97 %	63.77 %	44.60 %	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.
167	mdab			48.66 %	65.70 %	43.93 %	0.02 s	1 core @ 2.5 Ghz (Python)
168	mdab			48.66 %	65.70 %	43.93 %	22 s	1 core @ 2.5 Ghz (C/C++)
169	ACFD		code	48.63 %	61.62 %	44.15 %	0.2 s	4 cores @ >3.5 Ghz (C/C++)
M. Dimitrievski, P. Veelaert and W. Philips: Semantically aware multilateral filter for depth upsampling in automotive LiDAR point clouds. IEEE Intelligent Vehicles Symposium, IV 2017, Los Angeles, CA, USA, June 11-14, 2017 2017.
170	R-CNN			48.57 %	62.88 %	43.05 %	4 s	GPU @ 3.3 Ghz (C/C++)
J. Hosang, M. Omran, R. Benenson and B. Schiele: Taking a Deeper Look at Pedestrians. arXiv 2015.
171	GraphAlign(ICCV2023)		code	48.47 %	55.17 %	46.68 %	0.03 s	GPU @ 2.0 Ghz (Python)
Z. Song, H. Wei, L. Bai, L. Yang and C. Jia: GraphAlign: Enhancing accurate feature alignment by graph matching for multi-modal 3D object detection. Proceedings of the IEEE/CVF International Conference on Computer Vision 2023.
172	Fade-kd			47.74 %	58.54 %	45.51 %	0.01 s	1 core @ 2.5 Ghz (C/C++)
173	MonoLiG		code	47.69 %	62.87 %	43.27 %	0.03 s	1 core @ 2.5 Ghz (C/C++)
A. Hekimoglu, M. Schmidt and A. Ramiro: Monocular 3D Object Detection with LiDAR Guided Semi Supervised Active Learning. 2023.
174	focal			47.64 %	55.88 %	45.66 %	100 s	1 core @ 2.5 Ghz (Python)
175	MonoFlex			47.58 %	62.64 %	43.15 %	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.
176	BirdNet+		code	47.50 %	54.78 %	45.53 %	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.
177	geo-pillars			46.92 %	55.56 %	44.74 %	0.05 s	1 core @ 2.5 Ghz (C/C++)
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178	CMKD		code	46.84 %	61.04 %	42.92 %	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.
179	MonOAPC			46.31 %	60.93 %	42.05 %	0035 s	1 core @ 2.5 Ghz (Python)
H. Yao, J. Chen, Z. Wang, X. Wang, P. Han, X. Chai and Y. Qiu: Occlusion-Aware Plane-Constraints for Monocular 3D Object Detection. IEEE Transactions on Intelligent Transportation Systems 2023.
180	SS3D			45.79 %	61.58 %	41.14 %	48 ms	Tesla V100 (Python)
E. Jörgensen, C. Zach and F. Kahl: Monocular 3D Object Detection and Box Fitting Trained End-to-End Using Intersection-over-Union Loss. CoRR 2019.
181	MonoRCNN++		code	45.76 %	60.29 %	39.39 %	0.07 s	GPU @ 2.5 Ghz (Python)
X. Shi, Z. Chen and T. Kim: Multivariate Probabilistic Monocular 3D Object Detection. WACV 2023.
182	ACF			45.67 %	59.81 %	40.88 %	1 s	1 core @ 3.5 Ghz (Matlab + C/C++)
P. Doll\'ar, R. Appel, S. Belongie and P. Perona: Fast Feature Pyramids for Object Detection. PAMI 2014.
183	UniCuboid			45.64 %	59.74 %	41.29 %	0.1 s	1 core @ 2.5 Ghz (C/C++)
184	Fusion-DPM		code	44.99 %	58.93 %	40.19 %	~ 30 s	1 core @ 3.5 Ghz (Matlab + C/C++)
C. Premebida, J. Carreira, J. Batista and U. Nunes: Pedestrian Detection Combining RGB and Dense LIDAR Data. IROS 2014.
185	ACF-MR			44.79 %	58.29 %	39.94 %	0.6 s	1 core @ 3.5 Ghz (C/C++)
R. Rajaram, E. Ohn-Bar and M. Trivedi: Looking at Pedestrians at Different Scales: A Multi-resolution Approach and Evaluations. T-ITS 2016.
186	SeSame-pillar		code	44.21 %	52.67 %	41.95 %	N/A s	TITAN RTX @ 1.35 Ghz (Python)
H. O, C. Yang and K. Huh: SeSame: Simple, Easy 3D Object Detection with Point-Wise Semantics. Proceedings of the Asian Conference on Computer Vision (ACCV) 2024.
187	LPCG-Monoflex		code	44.13 %	62.44 %	39.46 %	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.
188	HA-SSVM			43.87 %	58.76 %	38.81 %	21 s	1 core @ >3.5 Ghz (Matlab + C/C++)
J. Xu, S. Ramos, D. Vázquez and A. López: Hierarchical Adaptive Structural SVM for Domain Adaptation. IJCV 2016.
189	AB3DMOT		code	43.86 %	54.55 %	40.99 %	0.0047s	1 core @ 2.5 Ghz (python)
X. Weng and K. Kitani: A Baseline for 3D Multi-Object Tracking. arXiv:1907.03961 2019.
190	MonoEF			43.73 %	58.79 %	39.45 %	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.
191	D4LCN		code	43.50 %	59.55 %	37.12 %	0.2 s	GPU @ 2.5 Ghz (Python + C/C++)
M. Ding, Y. Huo, H. Yi, Z. Wang, J. Shi, Z. Lu and P. Luo: Learning Depth-Guided Convolutions for Monocular 3D Object Detection. CVPR 2020.
192	DMF			43.43 %	52.99 %	41.29 %	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.
193	MonoDDE			43.36 %	57.80 %	39.00 %	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.
194	T-SSD			43.31 %	53.86 %	40.96 %	0.04	1 core @ 2.0 Ghz (C/C++)
195	DPM-VOC+VP			43.26 %	59.21 %	38.12 %	8 s	1 core @ 2.5 Ghz (C/C++)
B. Pepik, M. Stark, P. Gehler and B. Schiele: Multi-view and 3D Deformable Part Models. IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI) 2015.
196	ACF-SC			42.97 %	53.30 %	38.12 %	<0.3 s	1 core @ >3.5 Ghz (Matlab + C/C++)
C. Cadena, A. Dick and I. Reid: A Fast, Modular Scene Understanding System using Context-Aware Object Detection. Robotics and Automation (ICRA), 2015 IEEE International Conference on 2015.
197	SeSame-voxel w/score		code	42.88 %	50.84 %	40.76 %	N/A s	GPU @ 1.5 Ghz (Python)
H. O, C. Yang and K. Huh: SeSame: Simple, Easy 3D Object Detection with Point-Wise Semantics. Proceedings of the Asian Conference on Computer Vision (ACCV) 2024.
198	MonoDTR			42.86 %	59.44 %	38.57 %	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.
199	SquaresICF		code	42.61 %	57.08 %	37.85 %	1 s	GPU @ >3.5 Ghz (C/C++)
R. Benenson, M. Mathias, T. Tuytelaars and L. Gool: Seeking the strongest rigid detector. CVPR 2013.
200	CG-Stereo			42.54 %	54.64 %	38.45 %	0.57 s	GeForce RTX 2080 Ti
C. Li, J. Ku and S. Waslander: Confidence Guided Stereo 3D Object Detection with Split Depth Estimation. IROS 2020.
201	BirdNet+ (legacy)		code	41.97 %	51.38 %	40.15 %	0.1 s	Titan Xp (PyTorch)
A. Barrera, C. Guindel, J. Beltrán and F. García: BirdNet+: End-to-End 3D Object Detection in LiDAR Bird’s Eye View. 2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC) 2020.
202	DDMP-3D			41.54 %	56.73 %	35.52 %	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.
203	CSW3D			41.50 %	53.76 %	37.25 %	0.03 s	4 cores @ 2.5 Ghz (C/C++)
J. Hu, T. Wu, H. Fu, Z. Wang and K. Ding: Cascaded Sliding Window Based Real-Time 3D Region Proposal for Pedestrian Detection. ROBIO 2019.
204	M3D-RPN		code	41.46 %	56.64 %	37.31 %	0.16 s	GPU @ 1.5 Ghz (Python)
G. Brazil and X. Liu: M3D-RPN: Monocular 3D Region Proposal Network for Object Detection . ICCV 2019 .
205	YOLOStereo3D		code	41.46 %	56.20 %	37.07 %	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.
206	MonoFRD			41.20 %	54.06 %	37.53 %	0.01 s	1 core @ 2.5 Ghz (C/C++)
Z. Gong, Y. Zhao, F. Zhang, G. Gui, B. Chen, L. Yu, H. Wang, C. Yang and W. Gui: Color intuitive feature guided depth-height fusion and volume rendering for monocular 3D object detection. IEEE Transactions on Intelligent Vehicles(Major Revison) 2024.
207	CIE			41.04 %	53.27 %	37.73 %	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.
208	SubCat			40.50 %	53.75 %	35.66 %	1.2 s	6 cores @ 2.5 Ghz (Matlab + C/C++)
E. Ohn-Bar and M. Trivedi: Fast and Robust Object Detection Using Visual Subcategories. Computer Vision and Pattern Recognition Workshops Mobile Vision 2014.
209	PS-fld		code	40.47 %	55.47 %	36.65 %	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.
210	SeSame-pillar w/scor		code	40.24 %	48.38 %	38.25 %	N/A s	1 core @ 2.5 Ghz (C/C++)
H. O, C. Yang and K. Huh: SeSame: Simple, Easy 3D Object Detection with Point-Wise Semantics. Proceedings of the Asian Conference on Computer Vision (ACCV) 2024.
211	DSGN		code	39.93 %	49.28 %	38.13 %	0.67 s	NVIDIA Tesla V100
Y. Chen, S. Liu, X. Shen and J. Jia: DSGN: Deep Stereo Geometry Network for 3D Object Detection. CVPR 2020.
212	RT3D-GMP			39.83 %	55.56 %	35.18 %	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.
213	SparsePool		code	39.59 %	50.81 %	35.91 %	0.13 s	8 cores @ 2.5 Ghz (Python)
Z. Wang, W. Zhan and M. Tomizuka: Fusing bird view lidar point cloud and front view camera image for deep object detection. arXiv preprint arXiv:1711.06703 2017.
214	SparsePool		code	39.43 %	50.94 %	35.78 %	0.13 s	8 cores @ 2.5 Ghz (Python)
Z. Wang, W. Zhan and M. Tomizuka: Fusing bird view lidar point cloud and front view camera image for deep object detection. arXiv preprint arXiv:1711.06703 2017.
215	AVOD		code	39.43 %	50.90 %	35.75 %	0.08 s	Titan X (pascal)
J. Ku, M. Mozifian, J. Lee, A. Harakeh and S. Waslander: Joint 3D Proposal Generation and Object Detection from View Aggregation. IROS 2018.
216	ACF			39.12 %	48.42 %	35.03 %	0.2 s	1 core @ >3.5 Ghz (Matlab + C/C++)
P. Doll\'ar, R. Appel, S. Belongie and P. Perona: Fast Feature Pyramids for Object Detection. PAMI 2014. P. Doll\'ar: Piotr's Image and Video Matlab Toolbox (PMT). .
217	LSVM-MDPM-sv			37.26 %	50.74 %	33.13 %	10 s	4 cores @ 3.0 Ghz (C/C++)
P. Felzenszwalb, R. Girshick, D. McAllester and D. Ramanan: Object Detection with Discriminatively Trained Part-Based Models. PAMI 2010. A. Geiger, C. Wojek and R. Urtasun: Joint 3D Estimation of Objects and Scene Layout. NIPS 2011.
218	multi-task CNN			37.00 %	49.38 %	33.46 %	25.1 ms	GPU @ 2.0 Ghz (Python)
M. Oeljeklaus, F. Hoffmann and T. Bertram: A Fast Multi-Task CNN for Spatial Understanding of Traffic Scenes. IEEE Intelligent Transportation Systems Conference 2018.
219	Complexer-YOLO			36.45 %	42.16 %	32.91 %	0.06 s	GPU @ 3.5 Ghz (C/C++)
M. Simon, K. Amende, A. Kraus, J. Honer, T. Samann, H. Kaulbersch, S. Milz and H. Michael Gross: Complexer-YOLO: Real-Time 3D Object Detection and Tracking on Semantic Point Clouds. The IEEE Conference on Computer Vision and Pattern Recognition (CVPR) Workshops 2019.
220	LSVM-MDPM-us		code	35.92 %	48.73 %	31.70 %	10 s	4 cores @ 3.0 Ghz (C/C++)
P. Felzenszwalb, R. Girshick, D. McAllester and D. Ramanan: Object Detection with Discriminatively Trained Part-Based Models. PAMI 2010.
221	CMAN			34.96 %	49.73 %	30.92 %	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.
222	Aug3D-RPN			34.95 %	47.22 %	30.64 %	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.
223	FMF-occlusion-net			34.74 %	49.26 %	30.37 %	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.
224	Fade			34.70 %	43.64 %	32.98 %	0.01 s	1 core @ 2.5 Ghz (C/C++)
225	MonoNeRD		code	34.43 %	46.50 %	31.06 %	na s	1 core @ 2.5 Ghz (Python)
J. Xu, L. Peng, H. Cheng, H. Li, W. Qian, K. Li, W. Wang and D. Cai: MonoNeRD: NeRF-like Representations for Monocular 3D Object Detection. ICCV 2023.
226	PS-SVDM			34.15 %	46.43 %	30.90 %	1 s	1 core @ 2.5 Ghz (Python)
Y. Shi: SVDM: Single-View Diffusion Model for Pseudo-Stereo 3D Object Detection. arXiv preprint arXiv:2307.02270 2023.
227	LLW			34.15 %	46.50 %	30.83 %	0.1 s	1 core @ 2.5 Ghz (C/C++)
228	PointRGBNet			33.92 %	44.35 %	30.43 %	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.
229	PGD-FCOS3D		code	33.67 %	48.30 %	29.76 %	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.
230	Vote3D			33.04 %	42.66 %	30.59 %	0.5 s	4 cores @ 2.8 Ghz (C/C++)
D. Wang and I. Posner: Voting for Voting in Online Point Cloud Object Detection. Proceedings of Robotics: Science and Systems 2015.
231	ESGN			32.60 %	44.09 %	29.10 %	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.
232	SGM3D		code	32.48 %	45.03 %	28.58 %	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.
233	CPD++(unsupervised)		code	32.46 %	39.25 %	30.79 %	0.1 s	GPU @ >3.5 Ghz (Python)
234	CaDDN		code	32.42 %	46.35 %	29.98 %	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.
235	PS-SVDM			32.24 %	44.02 %	29.08 %	1 s	1 core @ 2.5 Ghz (Python)
Y. Shi: SVDM: Single-View Diffusion Model for Pseudo-Stereo 3D Object Detection. arXiv preprint arXiv:2307.02270 2023.
236	DFR-Net			31.84 %	45.20 %	27.94 %	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.
237	OC Stereo		code	30.79 %	43.50 %	28.40 %	0.35 s	1 core @ 2.5 Ghz (Python + C/C++)
A. Pon, J. Ku, C. Li and S. Waslander: Object-Centric Stereo Matching for 3D Object Detection. ICRA 2020.
238	mBoW			30.26 %	41.52 %	26.34 %	10 s	1 core @ 2.5 Ghz (C/C++)
J. Behley, V. Steinhage and A. Cremers: Laser-based Segment Classification Using a Mixture of Bag-of-Words. Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2013.
239	BirdNet			30.07 %	36.82 %	28.40 %	0.11 s	Titan Xp (Caffe)
J. Beltrán, C. Guindel, F. Moreno, D. Cruzado, F. García and A. Escalera: BirdNet: A 3D Object Detection Framework from LiDAR Information. 2018 21st International Conference on Intelligent Transportation Systems (ITSC) 2018.
240	SeSame-point w/score		code	30.04 %	40.65 %	27.65 %	N/A s	1 core @ 1.5 Ghz (Python)
H. O, C. Yang and K. Huh: SeSame: Simple, Easy 3D Object Detection with Point-Wise Semantics. Proceedings of the Asian Conference on Computer Vision (ACCV) 2024.
241	RT3DStereo			29.30 %	41.12 %	25.25 %	0.08 s	GPU @ 2.5 Ghz (C/C++)
H. Königshof, N. Salscheider and C. Stiller: Realtime 3D Object Detection for Automated Driving Using Stereo Vision and Semantic Information. Proc. IEEE Intl. Conf. Intelligent Transportation Systems 2019.
242	MDSNet			29.25 %	41.64 %	26.01 %	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.
243	AMNet+DDAD15M		code	28.50 %	37.11 %	25.83 %	0.03 s	1 core @ 2.5 Ghz (C/C++)
H. Pan, Y. Jia, J. Wang and W. Sun: MonoAMNet: Three-Stage Real-Time Monocular 3D Object Detection With Adaptive Methods. IEEE Transactions on Intelligent Transportation Systems 2025.
244	AMNet		code	26.21 %	34.68 %	23.62 %	0.03 s	GPU @ 1.0 Ghz (Python)
H. Pan, Y. Jia, J. Wang and W. Sun: MonoAMNet: Three-Stage Real-Time Monocular 3D Object Detection With Adaptive Methods. IEEE Transactions on Intelligent Transportation Systems 2025.
245	DPM-C8B1			25.34 %	36.40 %	22.00 %	15 s	4 cores @ 2.5 Ghz (Matlab + C/C++)
J. Yebes, L. Bergasa and M. García-Garrido: Visual Object Recognition with 3D-Aware Features in KITTI Urban Scenes. Sensors 2015. J. Yebes, L. Bergasa, R. Arroyo and A. Lázaro: Supervised learning and evaluation of KITTI's cars detector with DPM. IV 2014.
246	RefinedMPL			20.81 %	30.41 %	18.72 %	0.15 s	GPU @ 2.5 Ghz (Python + C/C++)
J. Vianney, S. Aich and B. Liu: RefinedMPL: Refined Monocular PseudoLiDAR for 3D Object Detection in Autonomous Driving. arXiv preprint arXiv:1911.09712 2019.
247	TopNet-Retina			16.45 %	22.37 %	15.43 %	52ms	GeForce 1080Ti (tensorflow-gpu, v1.12)
S. Wirges, T. Fischer, C. Stiller and J. Frias: Object Detection and Classification in Occupancy Grid Maps Using Deep Convolutional Networks. 2018 21st International Conference on Intelligent Transportation Systems (ITSC) 2018.
248	TopNet-HighRes			15.28 %	21.22 %	13.89 %	101ms	NVIDIA GeForce 1080 Ti (tensorflow-gpu)
S. Wirges, T. Fischer, C. Stiller and J. Frias: Object Detection and Classification in Occupancy Grid Maps Using Deep Convolutional Networks. 2018 21st International Conference on Intelligent Transportation Systems (ITSC) 2018.
249	CPD(unsupervised)		code	12.53 %	15.97 %	11.54 %	0.1 s	GPU @ >3.5 Ghz (Python + C/C++)
H. Wu, S. Zhao, X. Huang, C. Wen, X. Li and C. Wang: Commonsense Prototype for Outdoor Unsupervised 3D Object Detection. CVPR 2024.
250	YOLOv2		code	11.46 %	15.37 %	9.67 %	0.02 s	GPU @ 3.5 Ghz (C/C++)
J. Redmon, S. Divvala, R. Girshick and A. Farhadi: You only look once: Unified, real-time object detection. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition 2016. J. Redmon and A. Farhadi: YOLO9000: Better, Faster, Stronger. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition 2017.
251	TopNet-UncEst			8.58 %	13.00 %	7.38 %	0.09 s	NVIDIA GeForce 1080 Ti (tensorflow-gpu)
S. Wirges, M. Braun, M. Lauer and C. Stiller: Capturing Object Detection Uncertainty in Multi-Layer Grid Maps. 2019.
252	BIP-HETERO			7.05 %	8.51 %	6.30 %	~2 s	1 core @ 2.5 Ghz (C/C++)
A. Mekonnen, F. Lerasle, A. Herbulot and C. Briand: People Detection with Heterogeneous Features and Explicit Optimization on Computation Time. Pattern Recognition (ICPR), 2014 22nd International Conference on 2014.
253	GATE3D		code	1.09 %	1.49 %	1.18 %	0.01 s	1 core @ 2.5 Ghz (C/C++)
254	TopNet-DecayRate			0.01 %	0.01 %	0.01 %	92 ms	NVIDIA GeForce 1080 Ti (tensorflow-gpu)
S. Wirges, T. Fischer, C. Stiller and J. Frias: Object Detection and Classification in Occupancy Grid Maps Using Deep Convolutional Networks. 2018 21st International Conference on Intelligent Transportation Systems (ITSC) 2018.
255	f3sd		code	0.01 %	0.01 %	0.01 %	1.67 s	1 core @ 2.5 Ghz (C/C++)
256	DA3D+KM3D+v2-99		code	0.00 %	0.00 %	0.00 %	0.120s	GPU @ 2.5 Ghz (Python)
Y. Jia, J. Wang, H. Pan and W. Sun: Enhancing Monocular 3-D Object Detection Through Data Augmentation Strategies. IEEE Transactions on Instrumentation and Measurement 2024.
257	DA3D+KM3D		code	0.00 %	0.00 %	0.00 %	0.02 s	GPU @ 2.5 Ghz (Python)
Y. Jia, J. Wang, H. Pan and W. Sun: Enhancing Monocular 3-D Object Detection Through Data Augmentation Strategies. IEEE Transactions on Instrumentation and Measurement 2024.
258	DA3D		code	0.00 %	0.00 %	0.00 %	0.03 s	1 core @ 2.5 Ghz (Python)
Y. Jia, J. Wang, H. Pan and W. Sun: Enhancing Monocular 3-D Object Detection Through Data Augmentation Strategies. IEEE Transactions on Instrumentation and Measurement 2024.