Andreas Geiger (MPI Tübingen) | Philip Lenz (KIT) | Christoph Stiller (KIT) | Raquel Urtasun (University of Toronto)

Bird's Eye View Evaluation 2017


The bird's eye view benchmark consists of 7481 training images and 7518 test images as well as the corresponding point clouds, comprising a total of 80.256 labeled objects. For evaluation, we compute precision-recall curves. To rank the methods we compute average precision. We require that all methods use the same parameter set for all test pairs. Our development kit provides details about the data format as well as MATLAB / C++ utility functions for reading and writing the label files.

We evaluate bird's eye view detection performance using the PASCAL criteria also used for 2D object detection. Far objects are thus filtered based on their bounding box height in the image plane. As only objects also appearing on the image plane are labeled, objects in don't car areas do not count as false positives. We note that the evaluation does not take care of ignoring detections that are not visible on the image plane — these detections might give rise to false positives. For cars we require a bounding box overlap of 70% in bird's eye view, while for pedestrians and cyclists we require an overlap of 50%. Difficulties are defined as follows:

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

All methods are ranked based on the moderately difficult results.

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

Car


Method Setting Code Moderate Easy Hard Runtime Environment
1 SA-SSD code 91.03 % 95.03 % 85.96 % 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.
2 MMLab PV-RCNN
This method makes use of Velodyne laser scans.
 code 90.65 % 94.98 % 86.14 % 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.
3 CN 90.50 % 94.51 % 85.86 % 0.04 s GPU @ 2.5 Ghz (Python + C/C++)
4 3D-CVF code 89.38 % 93.24 % 82.29 % 0.06 s GPU @ >3.5 Ghz (Python)
5 STD 89.19 % 94.74 % 86.42 % 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.
6 Point-GNN
This method makes use of Velodyne laser scans.
 code 89.17 % 93.11 % 83.90 % 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.
7 Noah CV Lab - SSL 89.16 % 90.18 % 81.73 % 0.1 s GPU @ 2.5 Ghz (Python)
8 ORP 89.07 % 93.03 % 81.79 % 0.06 s 1 core @ 2.5 Ghz (C/C++)
9 3DSSD 89.02 % 92.66 % 85.86 % 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.
10 CLOCs_PointCas 88.99 % 92.60 % 81.74 % 0.1 s GPU @ 2.5 Ghz (Python)
11 Discrete-PointDet 88.95 % 94.56 % 83.56 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
12 HVNet 88.82 % 92.83 % 83.38 % 0.03 s GPU @ 2.0 Ghz (Python)
M. Ye, S. Xu and T. Cao: HVNet: Hybrid Voxel Network for LiDAR Based 3D Object Detection. CVPR 2020.
13 PointCSE 88.81 % 92.58 % 83.64 % 0.02 s 1 core @ 2.5 Ghz (C/C++)
14 ELE 88.80 % 94.52 % 85.69 % 0.1 s GPU @ 2.5 Ghz (Python + C/C++)
15 F-3DNet 88.76 % 92.68 % 83.63 % 0.5 s GPU @ 2.5 Ghz (Python)
16 RGB3D
This method makes use of Velodyne laser scans.
 88.69 % 92.84 % 81.76 % 0.39 s GPU @ 2.5 Ghz (Python)
17 FCPP 88.65 % 92.36 % 83.21 % 0.02 s 1 core @ 2.0 Ghz (Python + C/C++)
18 cvMax 88.64 % 92.12 % 83.72 % 0.04 s GPU @ >3.5 Ghz (Python)
19 deprecated 88.59 % 92.18 % 83.60 % 0.04 s GPU @ 2.5 Ghz (Python)
20 KNN-GCNN 88.57 % 91.73 % 83.32 % 0.4 s 1 core @ 2.5 Ghz (Python + C/C++)
21 MuRF 88.56 % 91.57 % 83.46 % 0.05 s GPU @ 1.5 Ghz (Python + C/C++)
22 DENFIDet 88.56 % 92.42 % 83.76 % 0.02 s GPU @ 2.5 Ghz (C/C++)
23 Chovy 88.54 % 92.34 % 83.68 % 0.04 s GPU @ 2.5 Ghz (Python)
24 EPNet 88.47 % 94.22 % 83.69 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
25 Patches
This method makes use of Velodyne laser scans.
 88.39 % 92.72 % 83.19 % 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.
26 3D IoU-Net 88.38 % 94.76 % 81.93 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
27 CLOCs_SecCas 88.23 % 91.16 % 82.63 % 0.1 s 1 core @ 2.5 Ghz (Python)
28 UberATG-MMF
This method makes use of Velodyne laser scans.
 88.21 % 93.67 % 81.99 % 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.
29 Patches - EMP
This method makes use of Velodyne laser scans.
 88.17 % 94.49 % 84.75 % 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.
30 PointPainting
This method makes use of Velodyne laser scans.
 88.11 % 92.45 % 83.36 % 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.
31 88.11 % 93.73 % 84.98 %
32 CPRCCNN 88.10 % 94.11 % 83.43 % 0.1 s 1 core @ 2.5 Ghz (Python)
33 Associate-3Ddet code 88.09 % 91.40 % 82.96 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
D. Liang*, Y. Xiaoqing*, T. Xiao, F. Jianfeng, X. Zhenbo, D. Errui and W. Shilei: Associate-3Ddet: Perceptual-to-Conceptual Association for 3D Point Cloud Object Detection. CVPR 2020.
34 OHS 88.09 % 94.06 % 83.24 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
35 DEFT 88.06 % 92.06 % 83.22 % 1 s GPU @ 2.5 Ghz (Python)
36 deprecated 88.05 % 91.96 % 83.21 % 0.05 s GPU @ >3.5 Ghz (Python)
37 deprecated 88.04 % 91.97 % 83.22 % - -
38 UberATG-HDNET
This method makes use of Velodyne laser scans.
 87.98 % 93.13 % 81.23 % 0.05 s GPU @ 2.5 Ghz (Python)
B. Yang, M. Liang and R. Urtasun: HDNET: Exploiting HD Maps for 3D Object Detection. 2nd Conference on Robot Learning (CoRL) 2018.
39 87.95 % 93.59 % 83.21 %
40 SPA 87.90 % 91.70 % 83.18 % 0.1 s 1 core @ 2.5 Ghz (Python)
41 Fast Point R-CNN
This method makes use of Velodyne laser scans.
 87.84 % 90.87 % 80.52 % 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.
42 MMLab-PartA^2
This method makes use of Velodyne laser scans.
 code 87.79 % 91.70 % 84.61 % 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.
43 HRI-FusionRCNN 87.77 % 93.18 % 80.20 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
44 MODet
This method makes use of Velodyne laser scans.
 87.56 % 90.80 % 82.69 % 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.
45 AB3DMOT
This method makes use of Velodyne laser scans.
This is an online method (no batch processing).
 code 87.53 % 91.99 % 81.03 % 0.0047s 1 core @ 2.5 Ghz (Python)
X. Weng and K. Kitani: A Baseline for 3D Multi-Object Tracking. arXiv:1907.03961 2019.
46 PointRGCN 87.49 % 91.63 % 80.73 % 0.26 s GPU @ V100 (Python)
47 deprecated 87.46 % 92.54 % 77.39 % 0.05 s 1 core @ 2.5 Ghz (Python)
48 SAIC-SA-3D
This method makes use of Velodyne laser scans.
 87.45 % 92.34 % 83.72 % 0.05 s GPU @ 2.5 Ghz (Python)
49 IE-PointRCNN 87.43 % 92.11 % 81.10 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
50 PC-CNN-V2
This method makes use of Velodyne laser scans.
 87.40 % 91.19 % 79.35 % 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.
51 MMLab-PointRCNN
This method makes use of Velodyne laser scans.
 code 87.39 % 92.13 % 82.72 % 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.
52 MPNet
This method makes use of Velodyne laser scans.
 87.31 % 91.27 % 83.25 % 0.02 s GPU @ 2.5 Ghz (Python + C/C++)
53 deprecated 87.28 % 90.44 % 75.09 % 0.05 s GPU @ 2.0 Ghz (Python)
54 PiP 87.25 % 90.87 % 83.38 % 0.05 s 1 core @ 2.5 Ghz (Python)
55 HRI-VoxelFPN 87.21 % 92.75 % 79.82 % 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.
56 CentrNet-v1
This method makes use of Velodyne laser scans.
 87.19 % 90.72 % 83.34 % 0.03 s GPU @ 2.5 Ghz (Python)
57 epBRM
This method makes use of Velodyne laser scans.
 code 87.13 % 90.70 % 81.92 % 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.
58 Roadstar.ai 87.12 % 92.42 % 81.88 % 0.08 s GPU @ 2.0 Ghz (Python)
59 PCSC-Net 87.00 % 90.98 % 82.99 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
60 Alibaba-AILabsX
This method makes use of Velodyne laser scans.
 87.00 % 92.50 % 79.61 % 0.05 s 1 core @ >3.5 Ghz (C/C++)
61 SARPNET 86.92 % 92.21 % 81.68 % 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.
62 TBA 86.85 % 90.51 % 83.05 % 0.07 s 1 core @ 2.5 Ghz (Python)
63 ARPNET 86.81 % 90.06 % 79.41 % 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.
64 PointPiallars_SECA 86.79 % 90.15 % 82.87 % 0.06 s 1 core @ 2.5 Ghz (C/C++)
65 C-GCN 86.78 % 91.11 % 80.09 % 0.147 s GPU @ V100 (Python)
66 CentrNet-FG 86.72 % 90.30 % 82.99 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
67 Tencent_ADlab_Lidar
This method makes use of Velodyne laser scans.
 86.72 % 90.27 % 81.35 % 0.1 s GPU @ 2.5 Ghz (Python + C/C++)
68 CU-PointRCNN 86.69 % 92.65 % 82.66 % 0.1 s GPU @ 1.5 Ghz (Python + C/C++)
69 SRF 86.60 % 91.90 % 81.43 % 0.05 s GPU @ 2.5 Ghz (Python + C/C++)
70 PointPillars
This method makes use of Velodyne laser scans.
 code 86.56 % 90.07 % 82.81 % 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.
71 TANet code 86.54 % 91.58 % 81.19 % 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.
72 MVX-Net++ 86.53 % 91.86 % 81.41 % 0.15 s 1 core @ 2.5 Ghz (C/C++)
73 A-VoxelNet 86.53 % 89.94 % 79.08 % 0.029 s GPU @ 2.5 Ghz (Python)
74 PointRCNN-deprecated
This method makes use of Velodyne laser scans.
 86.52 % 92.51 % 81.39 % 0.1 s GPU @ 2.5 Ghz (Python + C/C++)
75 SCNet
This method makes use of Velodyne laser scans.
 86.48 % 90.07 % 81.30 % 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.
76 MMV 86.46 % 90.04 % 79.04 % 0.4 s GPU @ 2.5 Ghz (C/C++)
77 RUC 86.46 % 90.06 % 82.20 % 0.12 s 1 core @ 2.5 Ghz (C/C++)
78 DDB
This method makes use of Velodyne laser scans.
 86.45 % 89.91 % 82.21 % 0.05 s GPU @ 2.5 Ghz (Python)
79 PPFNet code 86.44 % 92.35 % 81.48 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
80 autonet 86.42 % 89.81 % 81.25 % 0.12 s 1 core @ 2.5 Ghz (C/C++)
81 HR-SECOND code 86.40 % 91.68 % 81.40 % 0.11 s 1 core @ 2.5 Ghz (Python + C/C++)
82 SECOND-V1.5
This method makes use of Velodyne laser scans.
 code 86.37 % 91.81 % 81.04 % 0.04 s GPU @ 2.0 Ghz (Python + C/C++)
83 SegVoxelNet 86.37 % 91.62 % 83.04 % 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.
84 VOXEL_FPN_HR 86.36 % 90.28 % 81.20 % 0.12 s 8 cores @ 2.5 Ghz (Python)
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85 CP
This method makes use of Velodyne laser scans.
 86.30 % 92.14 % 82.97 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
86 Bit 86.27 % 89.74 % 81.19 % 0.11 s 1 core @ 2.5 Ghz (C/C++)
87 FOFNet
This method makes use of Velodyne laser scans.
 86.22 % 90.09 % 78.96 % 0.04 s GPU @ 2.5 Ghz (Python)
88 NU-optim 86.22 % 91.62 % 80.81 % 0.04 s GPU @ >3.5 Ghz (Python)
89 3D IoU Loss
This method makes use of Velodyne laser scans.
 86.22 % 91.36 % 81.20 % 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.
90 MP 86.16 % 90.24 % 78.86 % 0.2 s 1 core @ 2.5 Ghz (C/C++)
91 FCY
This method makes use of Velodyne laser scans.
 86.11 % 89.74 % 80.99 % 0.02 s GPU @ 2.5 Ghz (Python)
92 R-GCN 86.05 % 91.91 % 81.05 % 0.16 s GPU @ 2.5 Ghz (Python)
93 RethinkDet3D 86.05 % 91.32 % 81.13 % 0.15 s 1 core @ 2.5 Ghz (Python)
94 UberATG-PIXOR++
This method makes use of Velodyne laser scans.
 86.01 % 93.28 % 80.11 % 0.035 s GPU @ 2.5 Ghz (Python)
B. Yang, M. Liang and R. Urtasun: HDNET: Exploiting HD Maps for 3D Object Detection. 2nd Conference on Robot Learning (CoRL) 2018.
95 PTS
This method makes use of Velodyne laser scans.
 code 85.95 % 91.42 % 80.81 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
96 PPBA 85.85 % 91.30 % 80.92 % NA s GPU @ 2.5 Ghz (Python)
97 TBU 85.85 % 91.30 % 80.92 % NA s GPU @ 2.5 Ghz (Python)
98 F-ConvNet
This method makes use of Velodyne laser scans.
 code 85.84 % 91.51 % 76.11 % 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.
99 RUC code 85.84 % 88.54 % 81.15 % 0.12 s 1 core @ 2.5 Ghz (C/C++)
100 BVVF 85.83 % 91.20 % 80.76 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
101 PI-RCNN 85.81 % 91.44 % 81.00 % 0.1 s 1 core @ 2.5 Ghz (Python)
102 SAANet 85.69 % 91.72 % 78.77 % 0.10 s 1 core @ 2.5 Ghz (Python)
103 SFB-SECOND 85.63 % 91.38 % 78.60 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
104 PBASN code 85.62 % 90.95 % 80.49 % NA s GPU @ 2.5 Ghz (Python)
105 UberATG-ContFuse
This method makes use of Velodyne laser scans.
 85.35 % 94.07 % 75.88 % 0.06 s GPU @ 2.5 Ghz (Python)
M. Liang, B. Yang, S. Wang and R. Urtasun: Deep Continuous Fusion for Multi-Sensor 3D Object Detection. ECCV 2018.
106 AVOD
This method makes use of Velodyne laser scans.
 code 84.95 % 89.75 % 78.32 % 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.
107 WS3D
This method makes use of Velodyne laser scans.
 84.93 % 90.96 % 77.96 % 0.1 s GPU @ 2.5 Ghz (Python)
108 baseline 84.88 % 89.25 % 80.18 % 0.12 s 1 core @ 2.5 Ghz (C/C++)
109 AVOD-FPN
This method makes use of Velodyne laser scans.
 code 84.82 % 90.99 % 79.62 % 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.
110 Prune 84.81 % 90.48 % 77.40 % 0.11 s 1 core @ 2.5 Ghz (C/C++)
111 autoRUC 84.80 % 90.44 % 77.43 % 0.12 s 1 core @ 2.5 Ghz (C/C++)
112 F-PointNet
This method makes use of Velodyne laser scans.
 code 84.67 % 91.17 % 74.77 % 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.
113 PAD 84.46 % 88.66 % 80.61 % 0.15 s 1 core @ 2.5 Ghz (Python)
114 RUC code 84.40 % 89.11 % 79.33 % 0.12 s 1 core @ 2.5 Ghz (C/C++)
115 MVSLN 84.26 % 90.30 % 78.94 % 0.1s s 1 core @ 2.5 Ghz (C/C++)
116 PP-3D 84.11 % 89.16 % 76.81 % 0.1 s 1 core @ 2.5 Ghz (Python)
117 3DBN
This method makes use of Velodyne laser scans.
 83.94 % 89.66 % 76.50 % 0.13s 1080Ti (Python+C/C++)
X. Li, J. Guivant, N. Kwok and Y. Xu: 3D Backbone Network for 3D Object Detection. CoRR 2019.
118 RADNet-Fusion
This method makes use of Velodyne laser scans.
 83.84 % 91.81 % 78.80 % 0.1 s 1 core @ 2.5 Ghz (Python)
119 RADNet-LIDAR
This method makes use of Velodyne laser scans.
 83.74 % 92.43 % 77.00 % 0.1 s 1 core @ 2.5 Ghz (Python)
120 3DNN 83.68 % 88.06 % 77.00 % 0.09 s GPU @ 2.5 Ghz (Python)
121 SCANet 83.19 % 88.68 % 77.84 % 0.17 s >8 cores @ 2.5 Ghz (Python)
122 FailNet-Fusion
This method makes use of Velodyne laser scans.
 82.78 % 93.20 % 75.84 % 0.1 s 1 core @ 2.5 Ghz (Python)
123 yl_net 82.70 % 87.27 % 80.23 % 0.03 s GPU @ 2.5 Ghz (Python)
124 MLOD
This method makes use of Velodyne laser scans.
 code 82.68 % 90.25 % 77.97 % 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.
125 SECA 82.58 % 90.37 % 75.75 % 1 s GPU @ 2.5 Ghz (Python)
126 FailNet-LIDAR
This method makes use of Velodyne laser scans.
 82.41 % 92.85 % 75.39 % 0.1 s 1 core @ 2.5 Ghz (Python)
127 SDP-Net-s 81.93 % 86.57 % 75.83 % 12ms GPU @ 2.5 Ghz (Python)
128 RTL3D 81.63 % 89.55 % 76.63 % 0.02 s GPU @ 2.5 Ghz (Python)
129 PointRes
This method makes use of Velodyne laser scans.
This method makes use of GPS/IMU information.
This is an online method (no batch processing).
 81.60 % 90.60 % 76.03 % 0.013 s 1 core @ 2.5 Ghz (Python + C/C++)
130 voxelrcnn 81.41 % 88.21 % 75.26 % 15 s 1 core @ 2.5 Ghz (C/C++)
131 RuiRUC 80.20 % 86.90 % 67.77 % 0.12 s 1 core @ 2.5 Ghz (Python)
132 UberATG-PIXOR
This method makes use of Velodyne laser scans.
 80.01 % 83.97 % 74.31 % 0.035 s TITAN Xp (Python)
B. Yang, W. Luo and R. Urtasun: PIXOR: Real-time 3D Object Detection from Point Clouds. CVPR 2018.
133 NLK 79.15 % 82.59 % 72.65 % 0.02 s 1 core @ 2.5 Ghz (Python)
134 MV3D (LIDAR)
This method makes use of Velodyne laser scans.
 78.98 % 86.49 % 72.23 % 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.
135 MV3D
This method makes use of Velodyne laser scans.
 78.93 % 86.62 % 69.80 % 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.
136 Multi-3D
This method makes use of Velodyne laser scans.
 78.45 % 85.99 % 67.14 % 0.15 s 1 core @ 2.5 Ghz (C/C++)
137 VoxelNet(Unofficial) 78.39 % 87.95 % 71.29 % 0.5 s GPU @ 2.0 Ghz (Python)
138 seivl 77.43 % 85.43 % 75.51 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
139 ANM 75.40 % 84.78 % 61.28 % 0.12 s 1 core @ 2.5 Ghz (Python)
140 LaserNet 74.52 % 79.19 % 68.45 % 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.
141 PL++ (SDN+GDC)
This method uses stereo information.
This method makes use of Velodyne laser scans.
 code 73.80 % 84.61 % 65.59 % 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.
142 anm 73.63 % 82.59 % 62.87 % 3 s 1 core @ 2.5 Ghz (C/C++)
143 A3DODWTDA
This method makes use of Velodyne laser scans.
 code 73.26 % 79.58 % 62.77 % 0.08 s GPU @ 3.0 Ghz (Python)
F. Gustafsson and E. Linder-Norén: Automotive 3D Object Detection Without Target Domain Annotations. 2018.
144 avodC 72.78 % 84.61 % 66.02 % 0.1 s GPU @ 2.5 Ghz (Python)
145 E-VoxelNet 69.69 % 81.10 % 60.88 % 0.1 s GPU @ 2.5 Ghz (Python)
146 Complexer-YOLO
This method makes use of Velodyne laser scans.
 68.96 % 77.24 % 64.95 % 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.
147 TopNet-Retina
This method makes use of Velodyne laser scans.
 68.16 % 80.16 % 63.43 % 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.
148 CG-Stereo
This method uses stereo information.
 66.44 % 85.29 % 58.95 % 0.57 s GeForce RTX 2080 Ti
149 SF
This method uses stereo information.
This method makes use of Velodyne laser scans.
 65.74 % 74.20 % 58.35 % 0.5 s 1 core @ 2.5 Ghz (Python)
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150 DSGN
This method uses stereo information.
 code 65.05 % 82.90 % 56.60 % 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.
151 TopNet-DecayRate
This method makes use of Velodyne laser scans.
 64.60 % 79.74 % 58.04 % 92 ms NVIDIA GeForce 1080 Ti (tensorflow-gpu)
S. Wirges, T. Fischer, C. Stiller and J. Frias: Object Detection and Classification in Occupancy Grid Maps Using Deep Convolutional Networks. 2018 21st International Conference on Intelligent Transportation Systems (ITSC) 2018.
152 BirdNet+
This method makes use of Velodyne laser scans.
 code 63.33 % 84.80 % 61.23 % 0.1 s Titan Xp (PyTorch)
A. Barrera, C. Guindel, J. Beltrán and F. García: BirdNet+: End-to-End 3D Object Detection in LiDAR Bird's Eye View. arXiv:2003.04188 [cs.CV] 2020.
153 3D FCN
This method makes use of Velodyne laser scans.
 61.67 % 70.62 % 55.61 % >5 s 1 core @ 2.5 Ghz (C/C++)
B. Li: 3D Fully Convolutional Network for Vehicle Detection in Point Cloud. IROS 2017.
154 BirdNet
This method makes use of Velodyne laser scans.
 59.83 % 84.17 % 57.35 % 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.
155 TopNet-UncEst
This method makes use of Velodyne laser scans.
 59.67 % 72.05 % 51.67 % 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.
156 Pseudo-LiDAR E2E
This method uses stereo information.
 58.84 % 79.58 % 52.06 % 0.4 s GPU @ 2.5 Ghz (Python)
157 Pseudo-LiDAR++
This method uses stereo information.
 code 58.01 % 78.31 % 51.25 % 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.
158 ZoomNet
This method uses stereo information.
 code 54.91 % 72.94 % 44.14 % 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.
159 VoxelJones code 53.96 % 66.21 % 47.66 % .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.
160 TopNet-HighRes
This method makes use of Velodyne laser scans.
 53.05 % 67.84 % 46.99 % 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.
161 Disp R-CNN (velo)
This method uses stereo information.
 52.34 % 74.07 % 43.77 % 0.42 s GPU @ 2.5 Ghz (Python + C/C++)
162 Disp R-CNN
This method uses stereo information.
 52.34 % 73.82 % 43.64 % 0.42 s GPU @ 2.5 Ghz (Python + C/C++)
163 OC Stereo
This method uses stereo information.
 51.47 % 68.89 % 42.97 % 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.
164 stereo_sa
This method uses stereo information.
 49.61 % 71.47 % 42.71 % 0.3 s GPU @ 2.5 Ghz (Python)
165 RT3D-GMP
This method uses stereo information.
 49.57 % 61.28 % 38.70 % 0.06 s GPU @ 2.5 Ghz (Python + C/C++)
166 RT3DStereo
This method uses stereo information.
 46.82 % 58.81 % 38.38 % 0.08 s GPU @ 2.5 Ghz (C/C++)
H. Königshof, N. Salscheider and C. Stiller: Realtime 3D Object Detection for Automated Driving Using Stereo Vision and Semantic Information. Proc. IEEE Intl. Conf. Intelligent Transportation Systems 2019.
167 Pseudo-Lidar
This method uses stereo information.
 code 45.00 % 67.30 % 38.40 % 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.
168 RT3D
This method makes use of Velodyne laser scans.
 44.00 % 56.44 % 42.34 % 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.
169 m-prcnn
This method uses stereo information.
 42.81 % 67.82 % 33.63 % 0.43 s 1 core @ 2.5 Ghz (Python)
170 IDA-3D
This method uses stereo information.
 42.47 % 61.87 % 34.59 % 0.08 s 1 core @ 2.5 Ghz (Python + C/C++)
171 Stereo R-CNN
This method uses stereo information.
 code 41.31 % 61.92 % 33.42 % 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.
172 Licar
This method makes use of Velodyne laser scans.
 38.47 % 46.67 % 35.78 % 0.09 s GPU @ 2.0 Ghz (Python)
173 ASOD 33.63 % 54.61 % 26.76 % 0.28 s GPU @ 2.5 Ghz (Python)
174 StereoFENet
This method uses stereo information.
 32.96 % 49.29 % 25.90 % 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.
175 deprecated 30.56 % 34.56 % 25.69 % 1 core @ 2.5 Ghz (C/C++)
176 S3D 30.44 % 35.25 % 25.68 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
177 LNET 29.68 % 34.30 % 25.11 % 0.05 s 1 core @ 2.5 Ghz (C/C++)
178 PSMD 19.33 % 28.63 % 15.31 % 0.1 s GPU @ 2.5 Ghz (Python)
179 RefinedMPL 17.60 % 28.08 % 13.95 % 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.
180 AM3D 17.32 % 25.03 % 14.91 % 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.
181 DP3D 16.96 % 26.51 % 12.82 % 0.07 s GPU @ 1.5 Ghz (Python + C/C++)
182 PatchNet 16.86 % 22.97 % 14.97 % 0.4 s 1 core @ 2.5 Ghz (C/C++)
183 D4LCN code 16.02 % 22.51 % 12.55 % 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.
184 DA-3Ddet 15.90 % 23.35 % 12.11 % 0.05 s GPU @ 2.5 Ghz (Python)
185 HG-Mono 15.86 % 22.96 % 12.02 % 0.46 s GPU @ 2.5 Ghz (C/C++)
186 YoloMono3D 15.45 % 25.18 % 10.93 % 0.05 s GPU @ 2.5 Ghz (Python)
187 DP3D 15.44 % 23.98 % 12.24 % 0.05 s GPU @ 1.5 Ghz (Python + C/C++)
188 MonoPair 14.83 % 19.28 % 12.89 % 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.
189 Decoupled-3D 14.82 % 23.16 % 11.25 % 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.
190 Decoupled-3D v2 14.66 % 24.62 % 11.46 % 0.08 s GPU @ 2.5 Ghz (C/C++)
191 MonoSS 14.52 % 20.91 % 12.63 % 0.03 s GPU @ 2.5 Ghz (Python + C/C++)
192 SMOKE code 14.49 % 20.83 % 12.75 % 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.
193 RTM3D code 14.20 % 19.17 % 11.99 % 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.
194 Mono3CN 14.17 % 19.82 % 12.30 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
195 Mono3D_PLiDAR code 13.92 % 21.27 % 11.25 % 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.
196 SS3D_HW 13.70 % 20.28 % 9.86 % 0.4 s GPU @ 2.5 Ghz (Python)
197 M3D-RPN code 13.67 % 21.02 % 10.23 % 0.16 s GPU @ 1.5 Ghz (Python)
G. Brazil and X. Liu: M3D-RPN: Monocular 3D Region Proposal Network for Object Detection . ICCV 2019 .
198 MonoDIS 13.19 % 17.23 % 11.12 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
199 CSoR
This method makes use of Velodyne laser scans.
 13.07 % 18.67 % 10.34 % 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.
200 RAR-Net 13.01 % 20.63 % 10.19 % 0.5 s 1 core @ 2.5 Ghz (C/C++)
201 MonoPSR code 12.58 % 18.33 % 9.91 % 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.
202 PG-MonoNet 12.45 % 19.79 % 9.68 % 0.19 s GPU @ 2.5 Ghz (Python)
203 SS3D 11.52 % 16.33 % 9.93 % 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.
204 MonoGRNet code 11.17 % 18.19 % 8.73 % 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.
205 MonoFENet 11.03 % 17.03 % 9.05 % 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.
206 RADNet-Mono 10.57 % 15.22 % 8.74 % 0.1 s 1 core @ 2.5 Ghz (Python)
207 OACV 10.13 % 16.24 % 8.28 % 0.23 s GPU @ 2.5 Ghz (Python)
208 mylsi-faster-rcnn 9.96 % 15.55 % 8.11 % 0.3 s 1 core @ 2.5 Ghz (Python)
209 FailNet-Mono 9.11 % 14.41 % 7.11 % 0.1 s 1 core @ 2.5 Ghz (Python)
210 A3DODWTDA (image) code 8.66 % 10.37 % 7.06 % 0.8 s GPU @ 3.0 Ghz (Python)
F. Gustafsson and E. Linder-Norén: Automotive 3D Object Detection Without Target Domain Annotations. 2018.
211 mymask-rcnn 8.29 % 15.56 % 6.53 % 0.3 s 1 core @ 2.5 Ghz (Python)
212 Shift R-CNN (mono) code 6.82 % 11.84 % 5.27 % 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.
213 GS3D 6.08 % 8.41 % 4.94 % 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.
214 MVRA + I-FRCNN+ 5.84 % 9.05 % 4.50 % 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.
215 ROI-10D 4.91 % 9.78 % 3.74 % 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.
216 3D-GCK 4.57 % 5.79 % 3.64 % 24 ms Tesla V100
217 FQNet 3.23 % 5.40 % 2.46 % 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.
218 3D-SSMFCNN code 2.63 % 3.20 % 2.40 % 0.1 s GPU @ 1.5 Ghz (C/C++)
L. Novak: Vehicle Detection and Pose Estimation for Autonomous Driving. 2017.
219 monoref3d 1.70 % 3.22 % 1.21 % 0.1 s 1 core @ 2.5 Ghz (Python)
220 ref3D 1.70 % 3.22 % 1.21 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
221 3DVSSD 1.31 % 1.74 % 1.08 % 0.06 s 1 core @ 2.5 Ghz (C/C++)
222 VeloFCN
This method makes use of Velodyne laser scans.
 0.14 % 0.02 % 0.21 % 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 .
223 ANM 0.00 % 0.00 % 0.00 % 0.12 s 1 core @ 2.5 Ghz (C/C++)
224 ref3D 0.00 % 0.00 % 0.00 % 0.1 s 1 core @ 2.5 Ghz (Python)
225 multi-task CNN 0.00 % 0.00 % 0.00 % 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.
226 mBoW
This method makes use of Velodyne laser scans.
 0.00 % 0.00 % 0.00 % 10 s 1 core @ 2.5 Ghz (C/C++)
J. Behley, V. Steinhage and A. Cremers: Laser-based Segment Classification Using a Mixture of Bag-of-Words. Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2013.
Table as LaTeX | Only published Methods

Pedestrian


Method Setting Code Moderate Easy Hard Runtime Environment
1 DENFIDet 51.96 % 61.15 % 49.03 % 0.02 s GPU @ 2.5 Ghz (C/C++)
2 A-VoxelNet 51.79 % 61.34 % 47.93 % 0.029 s GPU @ 2.5 Ghz (Python)
3 TANet code 51.38 % 60.85 % 47.54 % 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.
4 CentrNet-FG 50.87 % 60.56 % 48.16 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
5 Noah CV Lab - SSL 50.66 % 57.27 % 46.55 % 0.1 s GPU @ 2.5 Ghz (Python)
6 MMLab PV-RCNN
This method makes use of Velodyne laser scans.
 code 50.57 % 59.86 % 46.74 % 0.08 s 1 core @ 2.5 Ghz (Python + C/C++)
S. Shi, C. Guo, L. Jiang, Z. Wang, J. Shi, X. Wang and H. Li: PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detection. CVPR 2020.
7 OHS 50.53 % 57.39 % 46.65 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
8 VMVS
This method makes use of Velodyne laser scans.
 50.34 % 60.34 % 46.45 % 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.
9 AVOD-FPN
This method makes use of Velodyne laser scans.
 code 50.32 % 58.49 % 46.98 % 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.
10 3DSSD 49.94 % 60.54 % 45.73 % 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.
11 PointPainting
This method makes use of Velodyne laser scans.
 49.93 % 58.70 % 46.29 % 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.
12 MMLab-PartA^2
This method makes use of Velodyne laser scans.
 code 49.81 % 59.04 % 45.92 % 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.
13 F-PointNet
This method makes use of Velodyne laser scans.
 code 49.57 % 57.13 % 45.48 % 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.
14 49.48 % 55.90 % 45.79 %
15 PPBA 49.34 % 57.23 % 46.86 % NA s GPU @ 2.5 Ghz (Python)
16 F-ConvNet
This method makes use of Velodyne laser scans.
 code 48.96 % 57.04 % 44.33 % 0.47 s GPU @ 2.5 Ghz (Python + C/C++)
Z. Wang and K. Jia: Frustum ConvNet: Sliding Frustums to Aggregate Local Point-Wise Features for Amodal 3D Object Detection. IROS 2019.
17 HVNet 48.86 % 54.84 % 46.33 % 0.03 s GPU @ 2.0 Ghz (Python)
M. Ye, S. Xu and T. Cao: HVNet: Hybrid Voxel Network for LiDAR Based 3D Object Detection. CVPR 2020.
18 RethinkDet3D 48.84 % 58.96 % 46.20 % 0.15 s 1 core @ 2.5 Ghz (Python)
19 CentrNet-v1
This method makes use of Velodyne laser scans.
 48.78 % 57.58 % 45.94 % 0.03 s GPU @ 2.5 Ghz (Python)
20 STD 48.72 % 60.02 % 44.55 % 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.
21 PointPillars
This method makes use of Velodyne laser scans.
 code 48.64 % 57.60 % 45.78 % 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.
22 DDB
This method makes use of Velodyne laser scans.
 48.35 % 57.68 % 45.44 % 0.05 s GPU @ 2.5 Ghz (Python)
23 PiP 48.14 % 56.16 % 45.27 % 0.05 s 1 core @ 2.5 Ghz (Python)
24 MVX-Net++ 48.04 % 56.63 % 45.44 % 0.15 s 1 core @ 2.5 Ghz (C/C++)
25 PPFNet code 47.92 % 55.04 % 44.95 % 0.1 s 1 core @ 2.5 Ghz (Python + C/C++)
26 LDAM 47.35 % 52.08 % 45.23 % 24 ms GTX 1080 ti GPU
27 Tencent_ADlab_Lidar
This method makes use of Velodyne laser scans.
 47.24 % 56.06 % 44.61 % 0.1 s GPU @ 2.5 Ghz (Python + C/C++)
28 Point-GNN
This method makes use of Velodyne laser scans.
 code 47.07 % 55.36 % 44.61 % 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.
29 KNN-GCNN 46.77 % 55.11 % 44.43 % 0.4 s 1 core @ 2.5 Ghz (Python + C/C++)
30 TBU 46.76 % 55.15 % 44.60 % NA s GPU @ 2.5 Ghz (Python)
31 PP-3D 46.74 % 56.74 % 44.01 % 0.1 s 1 core @ 2.5 Ghz (Python)
32 SCNet
This method makes use of Velodyne laser scans.
 46.73 % 56.87 % 42.74 % 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.
33 MMLab-PointRCNN
This method makes use of Velodyne laser scans.
 code 46.13 % 54.77 % 42.84 % 0.1 s GPU @ 2.5 Ghz (Python + C/C++)
S. Shi, X. Wang and H. Li: Pointrcnn: 3d object proposal generation and detection from point cloud. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition 2019.
34 Multi-3D
This method makes use of Velodyne laser scans.
 46.09 % 54.37 % 41.42 % 0.15 s 1 core @ 2.5 Ghz (C/C++)
35 ARPNET 45.92 % 55.48 % 42.54 % 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.
36 epBRM
This method makes use of Velodyne laser scans.
 code 45.49 % 52.48 % 42.75 % 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.
37 MLOD
This method makes use of Velodyne laser scans.
 code 45.40 % 55.09 % 41.42 % 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.
38 44.59 % 50.87 % 42.14 %
39 Roadstar.ai 44.35 % 49.63 % 41.39 % 0.08 s GPU @ 2.0 Ghz (Python)
40 FCY
This method makes use of Velodyne laser scans.
 43.88 % 51.21 % 41.41 % 0.02 s GPU @ 2.5 Ghz (Python)
41 SCANet 42.81 % 53.84 % 38.94 % 0.17 s >8 cores @ 2.5 Ghz (Python)
42 FOFNet
This method makes use of Velodyne laser scans.
 42.31 % 51.39 % 38.81 % 0.04 s GPU @ 2.5 Ghz (Python)
43 VOXEL_FPN_HR 41.62 % 50.18 % 38.30 % 0.12 s 8 cores @ 2.5 Ghz (Python)
ERROR: Wrong syntax in BIBTEX file.
44 deprecated 41.32 % 53.09 % 37.16 % 0.05 s GPU @ 2.0 Ghz (Python)
45 PBASN code 40.63 % 46.80 % 38.41 % NA s GPU @ 2.5 Ghz (Python)
46 HR-SECOND code 40.06 % 50.05 % 36.47 % 0.11 s 1 core @ 2.5 Ghz (Python + C/C++)
47 AB3DMOT
This method makes use of Velodyne laser scans.
This is an online method (no batch processing).
 code 38.79 % 47.51 % 35.85 % 0.0047s 1 core @ 2.5 Ghz (python)
X. Weng and K. Kitani: A Baseline for 3D Multi-Object Tracking. arXiv:1907.03961 2019.
48 MP 38.77 % 47.59 % 35.50 % 0.2 s 1 core @ 2.5 Ghz (C/C++)
49 BirdNet+
This method makes use of Velodyne laser scans.
 code 38.28 % 45.53 % 35.37 % 0.1 s Titan Xp (PyTorch)
A. Barrera, C. Guindel, J. Beltrán and F. García: BirdNet+: End-to-End 3D Object Detection in LiDAR Bird's Eye View. arXiv:2003.04188 [cs.CV] 2020.
50 anm 38.01 % 49.07 % 34.00 % 3 s 1 core @ 2.5 Ghz (C/C++)
51 CSW3D
This method makes use of Velodyne laser scans.
 37.96 % 49.27 % 33.83 % 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.
52 SparsePool code 34.15 % 43.33 % 31.78 % 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.
53 SAANet 33.94 % 42.34 % 31.75 % 0.10 s 1 core @ 2.5 Ghz (Python)
54 AVOD
This method makes use of Velodyne laser scans.
 code 33.57 % 42.58 % 30.14 % 0.08 s Titan X (pascal)
J. Ku, M. Mozifian, J. Lee, A. Harakeh and S. Waslander: Joint 3D Proposal Generation and Object Detection from View Aggregation. IROS 2018.
55 SparsePool code 33.22 % 41.55 % 29.66 % 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.
56 32.32 % 40.87 % 29.52 %
57 SF
This method uses stereo information.
This method makes use of Velodyne laser scans.
 29.77 % 37.16 % 26.61 % 0.5 s 1 core @ 2.5 Ghz (Python)
ERROR: Wrong syntax in BIBTEX file.
58 CG-Stereo
This method uses stereo information.
 29.56 % 39.24 % 25.87 % 0.57 s GeForce RTX 2080 Ti
59 BirdNet
This method makes use of Velodyne laser scans.
 23.06 % 28.20 % 21.65 % 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.
60 OC Stereo
This method uses stereo information.
 20.80 % 29.79 % 18.62 % 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.
61 DSGN
This method uses stereo information.
 code 20.75 % 26.61 % 18.86 % 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.
62 Complexer-YOLO
This method makes use of Velodyne laser scans.
 18.26 % 21.42 % 17.06 % 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.
63 TopNet-Retina
This method makes use of Velodyne laser scans.
 14.57 % 18.04 % 12.48 % 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.
64 TopNet-HighRes
This method makes use of Velodyne laser scans.
 13.50 % 19.43 % 11.93 % 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.
65 RefinedMPL 7.92 % 13.09 % 7.25 % 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.
66 MonoPair 7.04 % 10.99 % 6.29 % 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.
67 TopNet-DecayRate
This method makes use of Velodyne laser scans.
 6.59 % 8.78 % 6.25 % 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.
68 RT3D-GMP
This method uses stereo information.
 5.73 % 7.93 % 5.62 % 0.06 s GPU @ 2.5 Ghz (Python + C/C++)
69 Shift R-CNN (mono) code 5.66 % 8.58 % 4.49 % 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.
70 SS3D_HW 5.47 % 8.81 % 4.79 % 0.4 s GPU @ 2.5 Ghz (Python)
71 TopNet-UncEst
This method makes use of Velodyne laser scans.
 4.60 % 6.88 % 3.79 % 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.
72 MonoPSR code 4.56 % 7.24 % 4.11 % 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.
73 M3D-RPN code 4.05 % 5.65 % 3.29 % 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 .
74 Mono3CN 4.02 % 6.03 % 3.40 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
75 DP3D 4.01 % 5.71 % 3.64 % 0.05 s GPU @ 1.5 Ghz (Python + C/C++)
76 HG-Mono 3.90 % 5.66 % 3.67 % 0.46 s GPU @ 2.5 Ghz (C/C++)
77 DP3D 3.86 % 5.25 % 3.10 % 0.07 s GPU @ 1.5 Ghz (Python + C/C++)
78 D4LCN code 3.86 % 5.06 % 3.59 % 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.
79 RT3DStereo
This method uses stereo information.
 3.65 % 4.72 % 3.00 % 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.
80 PG-MonoNet 3.16 % 4.28 % 2.57 % 0.19 s GPU @ 2.5 Ghz (Python)
81 mylsi-faster-rcnn 2.11 % 3.08 % 1.89 % 0.3 s 1 core @ 2.5 Ghz (Python)
82 SS3D 2.09 % 2.48 % 1.61 % 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.
83 mymask-rcnn 1.60 % 2.60 % 1.48 % 0.3 s 1 core @ 2.5 Ghz (Python)
84 mBoW
This method makes use of Velodyne laser scans.
 0.00 % 0.00 % 0.00 % 10 s 1 core @ 2.5 Ghz (C/C++)
J. Behley, V. Steinhage and A. Cremers: Laser-based Segment Classification Using a Mixture of Bag-of-Words. Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2013.
Table as LaTeX | Only published Methods

Cyclist


Method Setting Code Moderate Easy Hard Runtime Environment
1 Noah CV Lab - SSL 74.45 % 85.96 % 64.23 % 0.1 s GPU @ 2.5 Ghz (Python)
2 PointPainting
This method makes use of Velodyne laser scans.
 71.54 % 83.91 % 62.97 % 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.
3 HVNet 71.17 % 83.97 % 63.65 % 0.03 s GPU @ 2.0 Ghz (Python)
M. Ye, S. Xu and T. Cao: HVNet: Hybrid Voxel Network for LiDAR Based 3D Object Detection. CVPR 2020.
4 MMLab PV-RCNN
This method makes use of Velodyne laser scans.
 code 68.89 % 82.49 % 62.41 % 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.
5 F-ConvNet
This method makes use of Velodyne laser scans.
 code 68.88 % 84.16 % 60.05 % 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.
6 MMLab-PartA^2
This method makes use of Velodyne laser scans.
 code 68.73 % 83.43 % 61.85 % 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.
7 OHS 68.51 % 83.29 % 61.84 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
8 3DSSD 67.62 % 85.04 % 61.14 % 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.
9 PPBA 67.28 % 82.69 % 60.53 % NA s GPU @ 2.5 Ghz (Python)
10 TBU 67.28 % 82.69 % 60.53 % NA s GPU @ 2.5 Ghz (Python)
11 Point-GNN
This method makes use of Velodyne laser scans.
 code 67.28 % 81.17 % 59.67 % 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.
12 MMLab-PointRCNN
This method makes use of Velodyne laser scans.
 code 67.24 % 82.56 % 60.28 % 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.
13 STD 67.23 % 81.36 % 59.35 % 0.08 s GPU @ 2.5 Ghz (Python + C/C++)
Z. Yang, Y. Sun, S. Liu, X. Shen and J. Jia: STD: Sparse-to-Dense 3D Object Detector for Point Cloud. ICCV 2019.
14 KNN-GCNN 67.22 % 83.35 % 59.51 % 0.4 s 1 core @ 2.5 Ghz (Python + C/C++)
15 67.20 % 79.66 % 61.04 %
16 66.86 % 82.13 % 60.86 %
17 RethinkDet3D 66.42 % 82.73 % 59.60 % 0.15 s 1 core @ 2.5 Ghz (Python)
18 ARPNET 66.39 % 82.32 % 58.80 % 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.
19 AB3DMOT
This method makes use of Velodyne laser scans.
This is an online method (no batch processing).
 code 65.85 % 80.00 % 58.69 % 0.0047s 1 core @ 2.5 Ghz (Python)
X. Weng and K. Kitani: A Baseline for 3D Multi-Object Tracking. arXiv:1907.03961 2019.
20 DENFIDet 65.49 % 82.13 % 57.76 % 0.02 s GPU @ 2.5 Ghz (C/C++)
21 PiP 65.12 % 79.51 % 58.25 % 0.05 s 1 core @ 2.5 Ghz (Python)
22 FOFNet
This method makes use of Velodyne laser scans.
 65.06 % 80.44 % 57.55 % 0.04 s GPU @ 2.5 Ghz (Python)
23 VOXEL_FPN_HR 65.02 % 81.07 % 58.44 % 0.12 s 8 cores @ 2.5 Ghz (Python)
ERROR: Wrong syntax in BIBTEX file.
24 MVX-Net++ 64.84 % 78.89 % 58.15 % 0.15 s 1 core @ 2.5 Ghz (C/C++)
25 HR-SECOND code 64.21 % 78.79 % 57.82 % 0.11 s 1 core @ 2.5 Ghz (Python + C/C++)
26 Multi-3D
This method makes use of Velodyne laser scans.
 64.09 % 80.81 % 54.67 % 0.15 s 1 core @ 2.5 Ghz (C/C++)
27 TANet code 63.77 % 79.16 % 56.21 % 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.
28 PBASN code 63.34 % 79.45 % 57.01 % NA s GPU @ 2.5 Ghz (Python)
29 LDAM 63.17 % 77.22 % 57.34 % 24 ms GTX 1080 ti GPU
30 PointPillars
This method makes use of Velodyne laser scans.
 code 62.73 % 79.90 % 55.58 % 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.
31 Tencent_ADlab_Lidar
This method makes use of Velodyne laser scans.
 62.34 % 78.91 % 55.37 % 0.1 s GPU @ 2.5 Ghz (Python + C/C++)
32 CentrNet-FG 62.10 % 76.94 % 54.94 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
33 F-PointNet
This method makes use of Velodyne laser scans.
 code 61.37 % 77.26 % 53.78 % 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.
34 A-VoxelNet 60.71 % 76.90 % 53.62 % 0.029 s GPU @ 2.5 Ghz (Python)
35 MP 60.16 % 77.57 % 54.01 % 0.2 s 1 core @ 2.5 Ghz (C/C++)
36 epBRM
This method makes use of Velodyne laser scans.
 code 59.79 % 75.13 % 53.36 % 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.
37 Roadstar.ai 59.50 % 68.73 % 53.60 % 0.08 s GPU @ 2.0 Ghz (Python)
38 FCY
This method makes use of Velodyne laser scans.
 59.35 % 76.73 % 52.63 % 0.02 s GPU @ 2.5 Ghz (Python)
39 CentrNet-v1
This method makes use of Velodyne laser scans.
 58.05 % 75.80 % 51.17 % 0.03 s GPU @ 2.5 Ghz (Python)
40 SAANet 57.98 % 74.71 % 51.95 % 0.10 s 1 core @ 2.5 Ghz (Python)
41 SCANet 57.20 % 72.86 % 51.16 % 0.17 s >8 cores @ 2.5 Ghz (Python)
42 AVOD-FPN
This method makes use of Velodyne laser scans.
 code 57.12 % 69.39 % 51.09 % 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.
43 DDB
This method makes use of Velodyne laser scans.
 57.01 % 73.70 % 50.71 % 0.05 s GPU @ 2.5 Ghz (Python)
44 deprecated 56.42 % 81.02 % 49.28 % 0.05 s GPU @ 2.0 Ghz (Python)
45 SCNet
This method makes use of Velodyne laser scans.
 56.39 % 73.73 % 49.99 % 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.
46 PP-3D 55.06 % 71.94 % 48.10 % 0.1 s 1 core @ 2.5 Ghz (Python)
47 MLOD
This method makes use of Velodyne laser scans.
 code 55.06 % 73.03 % 48.21 % 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.
48 BirdNet+
This method makes use of Velodyne laser scans.
 code 52.15 % 72.45 % 46.57 % 0.1 s Titan Xp (PyTorch)
A. Barrera, C. Guindel, J. Beltrán and F. García: BirdNet+: End-to-End 3D Object Detection in LiDAR Bird's Eye View. arXiv:2003.04188 [cs.CV] 2020.
49 AVOD
This method makes use of Velodyne laser scans.
 code 48.15 % 64.11 % 42.37 % 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.
50 BirdNet
This method makes use of Velodyne laser scans.
 41.56 % 58.64 % 36.94 % 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.
51 SparsePool code 40.74 % 56.52 % 36.68 % 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.
52 anm 38.56 % 56.94 % 34.06 % 3 s 1 core @ 2.5 Ghz (C/C++)
53 TopNet-Retina
This method makes use of Velodyne laser scans.
 36.83 % 47.48 % 33.58 % 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.
54 CG-Stereo
This method uses stereo information.
 36.25 % 55.33 % 32.17 % 0.57 s GeForce RTX 2080 Ti
55 SparsePool code 35.24 % 43.55 % 30.15 % 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.
56 Complexer-YOLO
This method makes use of Velodyne laser scans.
 25.43 % 32.00 % 22.88 % 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.
57 DSGN
This method uses stereo information.
 code 21.04 % 31.23 % 18.93 % 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.
58 OC Stereo
This method uses stereo information.
 19.23 % 32.47 % 17.11 % 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.
59 TopNet-DecayRate
This method makes use of Velodyne laser scans.
 16.00 % 23.02 % 13.24 % 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.
60 TopNet-UncEst
This method makes use of Velodyne laser scans.
 9.18 % 12.31 % 8.14 % 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.
61 RT3D-GMP
This method uses stereo information.
 6.90 % 10.09 % 6.14 % 0.06 s GPU @ 2.5 Ghz (Python + C/C++)
62 TopNet-HighRes
This method makes use of Velodyne laser scans.
 6.48 % 9.99 % 6.76 % 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.
63 MonoPSR code 5.78 % 9.87 % 4.57 % 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.
64 RT3DStereo
This method uses stereo information.
 4.10 % 7.03 % 3.88 % 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.
65 MonoPair 2.87 % 4.76 % 2.42 % 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.
66 SS3D_HW 2.78 % 5.03 % 2.36 % 0.4 s GPU @ 2.5 Ghz (Python)
67 Mono3CN 2.69 % 3.92 % 2.19 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
68 RefinedMPL 2.42 % 4.23 % 2.14 % 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.
69 SS3D 1.89 % 3.45 % 1.44 % 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.
70 DP3D 1.87 % 3.09 % 1.96 % 0.07 s GPU @ 1.5 Ghz (Python + C/C++)
71 D4LCN code 1.82 % 2.72 % 1.79 % 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.
72 DP3D 1.57 % 2.32 % 1.29 % 0.05 s GPU @ 1.5 Ghz (Python + C/C++)
73 mylsi-faster-rcnn 1.54 % 2.41 % 1.41 % 0.3 s 1 core @ 2.5 Ghz (Python)
74 HG-Mono 1.27 % 2.16 % 1.34 % 0.46 s GPU @ 2.5 Ghz (C/C++)
75 PG-MonoNet 1.24 % 1.96 % 1.01 % 0.19 s GPU @ 2.5 Ghz (Python)
76 M3D-RPN code 0.81 % 1.25 % 0.78 % 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 .
77 mymask-rcnn 0.71 % 1.39 % 0.69 % 0.3 s 1 core @ 2.5 Ghz (Python)
78 Shift R-CNN (mono) code 0.38 % 0.76 % 0.41 % 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.
79 mBoW
This method makes use of Velodyne laser scans.
 0.00 % 0.00 % 0.00 % 10 s 1 core @ 2.5 Ghz (C/C++)
J. Behley, V. Steinhage and A. Cremers: Laser-based Segment Classification Using a Mixture of Bag-of-Words. Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2013.
Table as LaTeX | Only published Methods

Related Datasets

Citation

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



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