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 VirConv-S code 93.52 % 95.99 % 90.38 % 0.09 s 1 core @ 2.5 Ghz (C/C++)
H. Wu, C. Wen, S. Shi and C. Wang: Virtual Sparse Convolution for Multimodal 3D Object Detection. CVPR 2023.
2 UDeerPEP code 93.40 % 95.34 % 89.07 % 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.
3 VirConv-T code 92.65 % 96.11 % 89.69 % 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.
4 WWW 92.26 % 95.96 % 89.21 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
5 GraR-Po code 92.12 % 95.79 % 87.11 % 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.
6 TSSTDet 92.11 % 95.80 % 89.23 % 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.
7 LPRFusion 92.09 % 95.58 % 87.11 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
8 MPCF code 92.07 % 95.92 % 87.29 % 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.
9 TED code 92.05 % 95.44 % 87.30 % 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.
10 TRTConv-L 92.04 % 95.55 % 87.23 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
ERROR: Wrong syntax in BIBTEX file.
11 BFT3D 92.04 % 95.88 % 85.24 % 0.15 s 1 core @ 2.5 Ghz (C/C++)
12 SQD++ 92.03 % 95.72 % 88.92 % 0.08 s GPU @ >3.5 Ghz (Python)
13 None 92.03 % 95.72 % 88.92 % 0.05 1 core @ 2.5 Ghz (C/C++)
14 mm3d 92.01 % 95.66 % 87.20 % 0.2 s 1 core @ 2.5 Ghz (C/C++)
15 ViKIENet 91.87 % 95.69 % 88.99 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
Z. Yu, B. Qiu and A. Khong: ViKIENet: Towards Efficient 3D Object Detection with Virtual Key Instance Enhanced Network. CVPR 2025.
16 VPFNet code 91.86 % 93.02 % 86.94 % 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 SFD code 91.85 % 95.64 % 86.83 % 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.
18 mat3D 91.85 % 95.49 % 87.07 % 0.2 s 1 core @ 2.5 Ghz (C/C++)
19 SE-SSD
This method makes use of Velodyne laser scans.
 code 91.84 % 95.68 % 86.72 % 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.
20 LVP 91.80 % 95.49 % 88.91 % 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.
21 ACFNet 91.78 % 92.91 % 87.06 % 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.
22 BVPConv-T 91.75 % 95.24 % 89.15 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
ERROR: Wrong syntax in BIBTEX file.
23 GraR-Vo code 91.72 % 95.27 % 86.51 % 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.
24 TRTConv-T 91.70 % 95.63 % 89.00 % 0.04 s 1 core @ 2.5 Ghz (Python + C/C++)
ERROR: Wrong syntax in BIBTEX file.
25 PVT-SSD 91.63 % 95.23 % 86.43 % 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.
26 SCDA-Net 91.61 % 95.45 % 89.16 % - s 1 core @ 2.5 Ghz (C/C++)
27 SPANet 91.59 % 95.59 % 86.53 % 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.
28 ViKIENet-R 91.56 % 94.87 % 88.55 % 0.06 s 1 core @ 2.5 Ghz (C/C++)
Z. Yu, B. Qiu and A. Khong: ViKIENet: Towards Efficient 3D Object Detection with Virtual Key Instance Enhanced Network. CVPR 2025.
29 RM3D 91.55 % 94.77 % 88.65 % 0.18 s 1 core @ 2.5 Ghz (C/C++)
30 CasA code 91.54 % 95.19 % 86.82 % 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.
31 LoGoNet code 91.52 % 95.48 % 87.09 % 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.
32 GraR-Pi code 91.52 % 95.06 % 86.42 % 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.
33 BVPConv-L 91.49 % 95.27 % 88.93 % 0.01 s 1 core @ 2.5 Ghz (Python + C/C++)
ERROR: Wrong syntax in BIBTEX file.
34 SCEMF 91.46 % 94.76 % 88.77 % 1 s 1 core @ 2.5 Ghz (C/C++)
35 UPIDet code 91.36 % 92.96 % 86.80 % 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.
36 BADet code 91.32 % 95.23 % 86.48 % 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.
37 CasA++ code 91.22 % 94.57 % 88.43 % 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.
38 MuStD 91.13 % 94.62 % 88.28 % 67 ms >8 cores @ 2.5 Ghz (Python)
39 3D HANet code 91.13 % 94.33 % 86.33 % 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 SpaA 91.05 % 94.69 % 86.56 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
41 MPC3DNet 91.03 % 95.56 % 86.36 % 0.05 s GPU @ 1.5 Ghz (Python)
42 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.
43 L-AUG 91.00 % 94.52 % 88.08 % 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.
44 c2f 90.89 % 92.31 % 86.25 % 1 s 1 core @ 2.5 Ghz (C/C++)
45 3D Dual-Fusion code 90.86 % 93.08 % 86.44 % 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.
46 focal 90.74 % 92.58 % 88.36 % 100 s 1 core @ 2.5 Ghz (Python)
47 GEFPN 90.74 % 92.58 % 88.36 % 0.5 s 1 core @ 2.5 Ghz (C/C++)
48 GeVo 90.74 % 92.58 % 88.36 % 0.05 s 1 core @ 2.5 Ghz (C/C++)
49 GraphAlign(ICCV2023) code 90.73 % 94.46 % 88.34 % 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.
50 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.
51 SQD code 90.63 % 95.44 % 88.04 % 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.
52 AFFN-G 90.61 % 94.46 % 88.12 % 0.5 s 1 core @ 2.5 Ghz (C/C++)
53 VPFNet code 90.52 % 93.94 % 86.25 % 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.
54 ECA 90.50 % 93.87 % 85.94 % 0.08 s GPU @ 1.5 Ghz (Python)
55 PDV code 90.48 % 94.56 % 86.23 % 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.
56 test 90.39 % 94.58 % 85.69 % 0.04 s GPU @ 1.5 Ghz (Python + C/C++)
57 M3DeTR code 90.37 % 94.41 % 85.98 % 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.
58 VoTr-TSD code 90.34 % 94.03 % 86.14 % 0.07 s 1 core @ 2.5 Ghz (C/C++)
J. Mao, Y. Xue, M. Niu, H. Bai, J. Feng, X. Liang, H. Xu and C. Xu: Voxel Transformer for 3D Object Detection. ICCV 2021.
59 AFFN 90.33 % 94.29 % 85.99 % 0.5 s 1 core @ 2.5 Ghz (C/C++)
60 DSA-PV-RCNN
This method makes use of Velodyne laser scans.
 code 90.13 % 92.42 % 85.93 % 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.
61 LumiNet code 90.13 % 95.79 % 85.06 % 0.1 s 1 core @ 2.5 Ghz (Python)
62 XView 90.12 % 92.27 % 85.94 % 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.
63 GraR-VoI code 90.10 % 95.69 % 86.85 % 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.
64 HA-PillarNet 90.07 % 92.73 % 85.98 % 0.05 s 1 core @ 2.5 Ghz (Python)
65 CAT-Det 90.07 % 92.59 % 85.82 % 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.
66 3ONet 90.07 % 95.87 % 85.09 % 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.
67 New_VLGCL code 89.98 % 94.00 % 85.98 % 0.4 s 1 core @ 2.5 Ghz (Python)
68 SVGA-Net 89.88 % 92.07 % 85.59 % 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.
69 EBM3DOD code 89.86 % 95.64 % 84.56 % 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.
70 CIA-SSD
This method makes use of Velodyne laser scans.
 code 89.84 % 93.74 % 82.39 % 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.
71 MLF-DET 89.82 % 93.38 % 84.78 % 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.
72 CLOCs_PVCas code 89.80 % 93.05 % 86.57 % 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.
73 Voxel RCNN-Focal* code 89.76 % 92.06 % 86.01 % 0.2 s 1 core @ 2.5 Ghz (Python)
74 GLENet-VR code 89.76 % 93.48 % 84.89 % 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.
75 RDIoU code 89.75 % 94.90 % 84.67 % 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.
76 EBM3DOD baseline code 89.63 % 95.44 % 84.34 % 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.
77 ImagePG 89.56 % 95.17 % 86.90 % 1 s 1 core @ 2.5 Ghz (C/C++)
78 3D-CVF at SPA
This method makes use of Velodyne laser scans.
 code 89.56 % 93.52 % 82.45 % 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.
79 OcTr 89.56 % 93.08 % 86.74 % 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.
80 VLGCL_NoText code 89.55 % 92.22 % 85.79 % 0.3 s 1 core @ 2.5 Ghz (Python)
81 Struc info fusion II 89.54 % 95.26 % 82.31 % 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.
82 SASA
This method makes use of Velodyne laser scans.
 code 89.51 % 92.87 % 86.35 % 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.
83 Fast-CLOCs 89.49 % 93.03 % 86.40 % 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.
84 IA-SSD (single) code 89.48 % 93.14 % 84.42 % 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.
85 CLOCs code 89.48 % 92.91 % 86.42 % 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.
86 DPFusion code 89.47 % 95.20 % 86.49 % 0.07 s 1 core @ 2.5 Ghz (C/C++)
87 PA3DNet 89.46 % 93.11 % 84.60 % 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.
88 PG-RCNN code 89.46 % 93.39 % 86.54 % 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.
89 DFAF3D 89.45 % 93.14 % 84.22 % 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.
90 DVF-V 89.42 % 93.12 % 86.50 % 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.
91 CGML 89.41 % 92.20 % 85.77 % 0.33 s 1 core @ 2.5 Ghz (C/C++)
92 Struc info fusion I 89.38 % 94.91 % 84.29 % 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.
93 R2Pfusion-Det 89.37 % 92.96 % 86.70 % 0.3 s 1 core @ 2.5 Ghz (C/C++)
94 BtcDet
This method makes use of Velodyne laser scans.
 code 89.34 % 92.81 % 84.55 % 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.
95 IA-SSD (multi) code 89.33 % 92.79 % 84.35 % 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.
96 CAIA_PRO code 89.27 % 92.84 % 84.26 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
97 ACDet code 89.21 % 92.87 % 85.80 % 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.
98 DVF-PV 89.20 % 93.08 % 86.28 % 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.
99 FIRM-Net_SCF+ 89.20 % 92.57 % 86.35 % 0.07 s 1 core @ 2.5 Ghz (Python)
100 STD code 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.
101 FIRM-Net-SCF 89.19 % 92.56 % 86.34 % 0.07 s 1 core @ 2.5 Ghz (Python)
102 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.
103 HMFI code 89.17 % 93.04 % 86.37 % 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.
104 SSL-PointGNN code 89.16 % 92.92 % 83.99 % 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.
105 SPG_mini
This method makes use of Velodyne laser scans.
 code 89.12 % 92.80 % 86.27 % 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.
106 EQ-PVRCNN code 89.09 % 94.55 % 86.42 % 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.
107 VoxSeT code 89.07 % 92.70 % 86.29 % 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.
108 3DSSD code 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.
109 RagNet3D code 89.01 % 92.87 % 86.36 % 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 .
110 EPNet++ 89.00 % 95.41 % 85.73 % 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.
111 Focals Conv code 89.00 % 92.67 % 86.33 % 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.
112 USVLab BSAODet code 88.90 % 92.66 % 86.23 % 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.
113 H^23D R-CNN code 88.87 % 92.85 % 86.07 % 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.
114 Pyramid R-CNN 88.84 % 92.19 % 86.21 % 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.
115 CityBrainLab-CT3D code 88.83 % 92.36 % 84.07 % 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.
116 Voxel R-CNN code 88.83 % 94.85 % 86.13 % 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.
117 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.
118 GD-MAE 88.82 % 94.22 % 83.54 % 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.
119 dsvd+vx 88.81 % 90.54 % 84.62 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
120 SPG
This method makes use of Velodyne laser scans.
 code 88.70 % 94.33 % 85.98 % 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.
121 SIENet code 88.65 % 92.38 % 86.03 % 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.
122 P2V-RCNN 88.63 % 92.72 % 86.14 % 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.
123 FromVoxelToPoint code 88.61 % 92.23 % 86.11 % 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.
124 RangeIoUDet
This method makes use of Velodyne laser scans.
 88.59 % 92.28 % 85.83 % 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.
125 EPNet code 88.47 % 94.22 % 83.69 % 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.
126 CenterNet3D 88.46 % 91.80 % 83.62 % 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.
127 FARP-Net code 88.45 % 91.20 % 86.01 % 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.
128 BVIFusion+ 88.42 % 92.02 % 85.73 % 0.09 s 1 core @ 2.5 Ghz (Python)
129 AFFN-Ga 88.41 % 92.49 % 85.89 % 0.5 s 1 core @ 2.5 Ghz (C/C++)
130 RangeRCNN
This method makes use of Velodyne laser scans.
 88.40 % 92.15 % 85.74 % 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.
131 second_iou_baseline 88.40 % 92.12 % 85.54 % 0.03 s 1 core @ 2.5 Ghz (Python)
132 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.
133 3D IoU-Net 88.38 % 94.76 % 81.93 % 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.
134 StructuralIF 88.38 % 91.78 % 85.67 % 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.
135 PASS-PV-RCNN-Plus 88.37 % 92.17 % 85.75 % 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.
136 SFA_IGCL_Focalsconv* code 88.35 % 92.51 % 86.00 % 0.2 s 1 core @ 2.5 Ghz (C/C++)
137 BFT3D_easy 88.26 % 94.19 % 80.99 % 0.18 s 1 core @ 2.5 Ghz (C/C++)
138 Fade-kd 88.25 % 92.16 % 83.34 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
139 CLOCs_SecCas 88.23 % 91.16 % 82.63 % 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.
140 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.
141 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.
142 SRDL 88.17 % 92.01 % 85.43 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
ERROR: Wrong syntax in BIBTEX file.
143 FocalsConv* 88.13 % 92.10 % 85.83 % 0.2 s 1 core @ 2.5 Ghz (C/C++)
144 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.
145 SERCNN
This method makes use of Velodyne laser scans.
 88.10 % 94.11 % 83.43 % 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.
146 Associate-3Ddet code 88.09 % 91.40 % 82.96 % 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.
147 HotSpotNet 88.09 % 94.06 % 83.24 % 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.
148 Faraway-Frustum
This method makes use of Velodyne laser scans.
 code 88.08 % 91.90 % 85.35 % 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.
149 SVFMamba code 88.06 % 91.61 % 84.96 % N/A s 1 core @ 2.5 Ghz (C/C++)
150 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.
151 work6_new1 87.93 % 91.28 % 84.58 % 0.5 s GPU @ 2.5 Ghz (Python)
152 Fade 3D code 87.85 % 93.53 % 82.75 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
W. Ye, Q. Xia, H. Wu, Z. Dong, R. Zhong, C. Wang and C. Wen: Fade3D: Fast and Deployable 3D Object Detection for Autonomous Driving. IEEE Transactions on Intelligent Transportation Systems 2025.
153 HMNet 87.85 % 91.89 % 84.65 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
154 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.
155 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.
156 SIF 87.76 % 91.44 % 85.15 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
P. An: SIF. Submitted to CVIU 2021.
157 MVAF-Net code 87.73 % 91.95 % 85.00 % 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.
158 NoText_VLGCL code 87.71 % 93.84 % 85.21 % 0.2 s 1 core @ 2.5 Ghz (Python)
159 MSMA V1 87.70 % 91.35 % 84.38 % 0.5 s GPU @ 2.5 Ghz (Python)
160 geo-pillars 87.68 % 91.50 % 84.06 % 0.05 s 1 core @ 2.5 Ghz (C/C++)
ERROR: Wrong syntax in BIBTEX file.
161 DVFENet 87.68 % 90.93 % 84.60 % 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.
162 S-AT GCN 87.68 % 90.85 % 84.20 % 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.
163 RangeDet (Official) code 87.67 % 90.93 % 82.92 % 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.
164 XPillars
This method makes use of Velodyne laser scans.
 87.63 % 90.82 % 82.78 % 0.02 s GPU @ 2.5 Ghz (Python)
165 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.
166 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.
167 DSFNet 87.52 % 90.95 % 82.11 % 0.5 s GPU @ 2.5 Ghz (Python)
168 CS3D 87.51 % 90.76 % 84.22 % 0.5 s 1 core @ 2.5 Ghz (Python)
169 SeSame-point code 87.49 % 90.84 % 83.77 % 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.
170 PointRGCN 87.49 % 91.63 % 80.73 % 0.26 s GPU @ V100 (Python)
J. Zarzar, S. Giancola and B. Ghanem: PointRGCN: Graph Convolution Networks for 3D Vehicles Detection Refinement. ArXiv 2019.
171 MGAF-3DSSD code 87.47 % 92.70 % 82.19 % 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.
172 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.
173 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.
174 Sem-Aug
This method makes use of Velodyne laser scans.
 87.37 % 93.35 % 82.43 % 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.
175 MAFF-Net(DAF-Pillar) 87.34 % 90.79 % 77.66 % 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.
176 Harmonic PointPillar code 87.28 % 90.89 % 82.54 % 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.
177 PASS-PointPillar 87.23 % 91.07 % 81.98 % 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.
178 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.
179 PCNet3D++ 87.17 % 90.13 % 83.10 % 0.5 s GPU @ 3.5 Ghz (Python)
180 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.
181 AARMOD 87.02 % 92.59 % 79.64 % 0.1 s 1 core @ 2.5 Ghz (Python)
182 DNet 86.97 % 90.27 % 81.95 % 0.5 s 1 core @ 2.5 Ghz (C/C++)
183 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.
184 SA V1 86.91 % 89.49 % 83.82 % 0.5 s GPU @ 2.5 Ghz (Python)
185 SeSame-pillar code 86.88 % 90.61 % 81.93 % 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.
186 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.
187 C-GCN 86.78 % 91.11 % 80.09 % 0.147 s GPU @ V100 (Python)
J. Zarzar, S. Giancola and B. Ghanem: PointRGCN: Graph Convolution Networks for 3D Vehicles Detection Refinement. ArXiv 2019.
188 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.
189 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.
190 PCNet3D 86.54 % 90.09 % 81.43 % 0.05 s GPU @ 3.5 Ghz (Python)
191 T-SSD 86.50 % 92.50 % 81.30 % 0.04 1 core @ 2.0 Ghz (C/C++)
192 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.
193 EAEPNet 86.43 % 92.74 % 81.40 % 0.1 s 1 core @ 2.5 Ghz (Python)
194 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.
195 DensePointPillars 86.31 % 92.13 % 81.12 % 0.03 s GPU @ 2.5 Ghz (Python)
196 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.
197 SeSame-pillar w/scor code 86.11 % 90.43 % 81.38 % 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.
198 R50_SACINet 86.10 % 91.70 % 83.15 % 0.06 s 1 core @ 2.5 Ghz (C/C++)
199 R-GCN 86.05 % 91.91 % 81.05 % 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.
200 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.
201 HINTED code 86.01 % 90.61 % 79.29 % 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.
202 L_SACINet 85.99 % 91.21 % 81.05 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
203 PointPillars_mmdet3d 85.96 % 91.25 % 80.82 % 0.03 s 1 core @ 2.5 Ghz (Python)
204 PL++: PV-RCNN++
This method uses stereo information.
This method makes use of Velodyne laser scans.
 85.89 % 91.76 % 81.29 % 0.342 s RTX 4060Ti (Python)
X. Gong, X. Huang, S. Chen and B. Zhang: Enhancing 3D Detection Accuracy in Autonomous Driving through Pseudo-LiDAR Augmentation and Downsampling. 2024 International Conference on Image Processing, Computer Vision and Machine Learning (ICICML) 2024.
205 Sem-Aug-PointRCNN++ 85.88 % 91.68 % 83.37 % 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.
206 DASS 85.85 % 91.74 % 80.97 % 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.
207 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.
208 SecAtten 85.84 % 91.32 % 82.57 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
209 PI-RCNN 85.81 % 91.44 % 81.00 % 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.
210 PointRGBNet 85.73 % 91.39 % 80.68 % 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.
211 SeSame-voxel code 85.62 % 89.86 % 80.95 % 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.
212 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.
213 PFF3D
This method makes use of Velodyne laser scans.
 code 85.08 % 89.61 % 80.42 % 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.
214 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.
215 WS3D
This method makes use of Velodyne laser scans.
 84.93 % 90.96 % 77.96 % 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.
216 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.
217 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.
218 AEPF 84.63 % 89.99 % 80.02 % 0.05 s GPU @ 2.5 Ghz (Python)
219 mmFUSION code 84.60 % 90.35 % 79.82 % 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.
220 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.
221 EOTL code 83.14 % 89.10 % 71.41 % 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.
222 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.
223 BirdNet+
This method makes use of Velodyne laser scans.
 code 81.85 % 87.43 % 75.36 % 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.
224 CPD++(unsupervised) code 81.62 % 90.22 % 76.56 % 0.1 s GPU @ >3.5 Ghz (Python)
225 DMF
This method uses stereo information.
 80.29 % 84.64 % 76.05 % 0.2 s 1 core @ 2.5 Ghz (Python + C/C++)
X. J. Chen and W. Xu: Disparity-Based Multiscale Fusion Network for Transportation Detection. IEEE Transactions on Intelligent Transportation Systems 2022.
226 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.
227 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.
228 DSGN++
This method uses stereo information.
 code 78.94 % 88.55 % 69.74 % 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.
229 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.
230 StereoDistill 78.59 % 89.03 % 69.34 % 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.
231 MMLAB LIGA-Stereo
This method uses stereo information.
 code 76.78 % 88.15 % 67.40 % 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.
232 RCD 75.83 % 82.26 % 69.61 % 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.
233 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.
234 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.
235 SNVC
This method uses stereo information.
 code 73.61 % 86.88 % 64.49 % 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.
236 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.
237 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.
238 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.
239 SeSame-point w/score code 67.18 % 83.44 % 57.68 % 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.
240 CG-Stereo
This method uses stereo information.
 66.44 % 85.29 % 58.95 % 0.57 s GeForce RTX 2080 Ti
C. Li, J. Ku and S. Waslander: Confidence Guided Stereo 3D Object Detection with Split Depth Estimation. IROS 2020.
241 PLUME
This method uses stereo information.
 66.27 % 82.97 % 56.70 % 0.15 s GPU @ 2.5 Ghz (Python)
Y. Wang, B. Yang, R. Hu, M. Liang and R. Urtasun: PLUME: Efficient 3D Object Detection from Stereo Images. IROS 2021.
242 CDN
This method uses stereo information.
 code 66.24 % 83.32 % 57.65 % 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.
243 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.
244 CPD(unsupervised) code 64.77 % 81.68 % 61.60 % 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.
245 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.
246 SeSame-voxel w/score code 63.36 % 71.98 % 57.52 % 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.
247 BirdNet+ (legacy)
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. 2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC) 2020.
248 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.
249 CDN-PL++
This method uses stereo information.
 61.04 % 81.27 % 52.84 % 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.
250 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.
251 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.
252 RT3D-GMP
This method uses stereo information.
 59.00 % 69.14 % 45.49 % 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.
253 Disp R-CNN (velo)
This method uses stereo information.
 code 58.62 % 79.76 % 47.73 % 0.387 s GPU @ 2.5 Ghz (Python + C/C++)
J. Sun, L. Chen, Y. Xie, S. Zhang, Q. Jiang, X. Zhou and H. Bao: Disp R-CNN: Stereo 3D Object Detection via Shape Prior Guided Instance Disparity Estimation. CVPR 2020.
254 ESGN
This method uses stereo information.
 58.12 % 78.10 % 49.28 % 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.
255 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.
256 Disp R-CNN
This method uses stereo information.
 code 57.98 % 79.61 % 47.09 % 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.
257 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.
258 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.
259 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.
260 OC Stereo
This method uses stereo information.
 code 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.
261 YOLOStereo3D
This method uses stereo information.
 code 50.28 % 76.10 % 36.86 % 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.
262 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.
263 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.
264 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.
265 Stereo CenterNet
This method uses stereo information.
 42.12 % 62.97 % 35.37 % 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.
266 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.
267 DA3D+KM3D+v2-99 code 34.88 % 44.27 % 30.29 % 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.
268 test_det 33.51 % 35.50 % 30.93 % -1 s 1 core @ 2.5 Ghz (C/C++)
269 CIE + DM3D 33.13 % 46.17 % 28.80 % 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.
270 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.
271 MonoDTF 28.92 % 42.67 % 25.89 % 0.1 s 1 core @ 2.5 Ghz (Python)
Anonymities: Revisiting Monocular 3D Object Detection from Scene-Level Depth Retargeting to Instance- Level Spatial Refinement. arXiv preprint arXiv:2412.19165 2024.
272 Mobile Stereo R-CNN
This method uses stereo information.
 28.78 % 44.51 % 22.30 % 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.
273 DA3D+KM3D code 28.71 % 39.50 % 25.20 % 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.
274 CIE 28.50 % 41.41 % 23.88 % 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.
275 MonoMH code 28.06 % 37.85 % 24.53 % 0.04 s 1 core @ 2.5 Ghz (Python)
276 M3D 27.60 % 38.62 % 24.09 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
277 STLM3D 27.53 % 37.93 % 24.22 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
278 zqd 27.11 % 41.72 % 23.36 % 0.1 s 1 core @ 2.5 Ghz (Python)
279 MonoCoP-Car 27.04 % 38.30 % 23.59 % 0.01 s GPU @ 2.5 Ghz (Python)
280 DA3D code 26.92 % 36.83 % 23.41 % 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.
281 MonoLiG code 26.83 % 35.73 % 24.24 % 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.
282 MonoGLS 26.72 % 37.13 % 23.10 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
283 MonoCoP 26.60 % 37.58 % 23.15 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
284 MM3D 26.58 % 38.80 % 23.07 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
285 MDD-M3D-X 26.57 % 38.33 % 23.74 % 0.01 s 1 core @ 2.5 Ghz (Python)
286 SSM3D 26.48 % 38.25 % 23.01 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
287 M5_3D 26.48 % 38.60 % 22.95 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
288 MonoHPE 26.42 % 36.17 % 23.15 % 0.04 s 1 core @ 2.5 Ghz (Python)
289 zqd_test2 26.21 % 41.36 % 22.64 % 0.5 s 1 core @ 2.5 Ghz (C/C++)
290 MonoHPE-Mask 26.11 % 35.43 % 22.83 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
291 AM 26.05 % 36.38 % 22.87 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
292 MonoLSS 25.95 % 34.89 % 22.59 % 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.
293 H3 25.89 % 35.59 % 22.54 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
294 DetAny3D code 25.83 % 36.71 % 21.94 % 0.58 s 1 core @ 2.5 Ghz (Python)
295 MonoAFKD 25.83 % 34.57 % 22.47 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
296 CMKD code 25.82 % 38.98 % 22.80 % 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.
297 IDEAL-M3D 60% 25.44 % 35.33 % 22.25 % 0.04 s 1 core @ 2.5 Ghz (Python)
298 AMNet+DDAD15M code 25.40 % 34.68 % 22.85 % 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.
299 UniCuboid 25.25 % 35.64 % 22.09 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
300 GATE3D code 25.06 % 33.94 % 22.04 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
301 BEVHeight++ code 24.90 % 37.51 % 20.93 % 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.
302 AMNet code 24.84 % 34.71 % 22.14 % 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.
303 MonoQ 24.82 % 35.77 % 21.37 % 0.02 s 1 core @ 2.5 Ghz (Python)
304 PS-SVDM 24.82 % 38.18 % 20.89 % 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.
305 LPCG-Monoflex code 24.81 % 35.96 % 21.86 % 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.
306 Monohan 24.80 % 32.49 % 21.70 % 0.05 s 1 core @ 2.5 Ghz (Python)
307 MonoSC 24.74 % 32.93 % 21.38 % 0.2 s 1 core @ 2.5 Ghz (C/C++)
308 NeurOCS 24.49 % 37.27 % 20.89 % 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.
309 Mix-Teaching code 24.23 % 35.74 % 20.80 % 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.
310 MonoSKD code 24.08 % 37.12 % 20.37 % 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.
311 MonoSample (DID-M3D) code 23.94 % 37.64 % 20.46 % 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.
312 PS-fld code 23.76 % 32.64 % 20.64 % 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.
313 ADD code 23.58 % 35.20 % 20.08 % 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 .
314 MonoNeRD code 23.46 % 31.13 % 20.97 % 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.
315 MonoDDE 23.46 % 33.58 % 20.37 % 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.
316 DD3D code 23.41 % 32.35 % 20.42 % 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) .
317 MonoUNI code 23.05 % 33.28 % 19.39 % 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.
318 zqd_test 23.00 % 35.01 % 20.99 % 0.2 s 1 core @ 2.5 Ghz (Python)
319 LLW 22.86 % 38.51 % 19.26 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
320 MonoCD code 22.81 % 33.41 % 19.57 % 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.
321 MonoFRD 22.77 % 29.65 % 20.41 % 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.
322 DID-M3D code 22.76 % 32.95 % 19.83 % 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.
323 OPA-3D code 22.53 % 33.54 % 19.22 % 0.04 s 1 core @ 3.5 Ghz (Python)
Y. Su, Y. Di, G. Zhai, F. Manhardt, J. Rambach, B. Busam, D. Stricker and F. Tombari: OPA-3D: Occlusion-Aware Pixel-Wise Aggregation for Monocular 3D Object Detection. IEEE Robotics and Automation Letters 2023.
324 DCD code 21.50 % 32.55 % 18.25 % 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.
325 MonoDETR code 21.45 % 32.20 % 18.68 % 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.
326 SGM3D code 21.37 % 31.49 % 18.43 % 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.
327 Cube R-CNN code 21.20 % 31.70 % 18.43 % 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.
328 GUPNet code 21.19 % 30.29 % 18.20 % 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.
329 HomoLoss(monoflex) code 20.68 % 29.60 % 17.81 % 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.
330 DEVIANT code 20.44 % 29.65 % 17.43 % 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.
331 MonoDTR 20.38 % 28.59 % 17.14 % 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.
332 MDSNet 20.14 % 32.81 % 15.77 % 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.
333 AutoShape code 20.08 % 30.66 % 15.95 % 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.
334 temp 20.05 % 28.51 % 17.11 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
335 MonoFlex 19.75 % 28.23 % 16.89 % 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.
336 MonoEF 19.70 % 29.03 % 17.26 % 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.
337 MonOAPC 19.67 % 28.91 % 16.99 % 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 MonoDSSMs-M 19.59 % 28.29 % 16.34 % 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.
339 MonoDSSMs-A 19.54 % 28.84 % 16.30 % 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.
340 HomoLoss(imvoxelnet) code 19.25 % 29.18 % 16.21 % 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.
341 DFR-Net 19.17 % 28.17 % 14.84 % 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.
342 PS-SVDM 19.07 % 28.52 % 16.30 % 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.
343 DLE code 19.05 % 31.09 % 14.13 % 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.
344 PCT code 19.03 % 29.65 % 15.92 % 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.
345 CaDDN code 18.91 % 27.94 % 17.19 % 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.
346 monodle code 18.89 % 24.79 % 16.00 % 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 .
347 Neighbor-Vote 18.65 % 27.39 % 16.54 % 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.
348 MonoRCNN++ code 18.62 % 27.20 % 15.69 % 0.07 s GPU @ 2.5 Ghz (Python)
X. Shi, Z. Chen and T. Kim: Multivariate Probabilistic Monocular 3D Object Detection. WACV 2023.
349 GrooMeD-NMS code 18.27 % 26.19 % 14.05 % 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.
350 MonoRCNN code 18.11 % 25.48 % 14.10 % 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.
351 Ground-Aware code 17.98 % 29.81 % 13.08 % 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.
352 Aug3D-RPN 17.89 % 26.00 % 14.18 % 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.
353 DDMP-3D 17.89 % 28.08 % 13.44 % 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.
354 IAFA 17.88 % 25.88 % 15.35 % 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.
355 mdab 17.74 % 26.42 % 15.71 % 0.02 s 1 core @ 2.5 Ghz (Python)
356 FMF-occlusion-net 17.60 % 27.39 % 13.25 % 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.
357 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.
358 Kinematic3D code 17.52 % 26.69 % 13.10 % 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 .
359 MonoRUn code 17.34 % 27.94 % 15.24 % 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.
360 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.
361 YoloMono3D code 17.15 % 26.79 % 12.56 % 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.
362 CMAN 17.04 % 25.89 % 12.88 % 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.
363 GAC3D 16.93 % 25.80 % 12.50 % 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.
364 PatchNet code 16.86 % 22.97 % 14.97 % 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.
365 SAKD-MR-Res18 16.56 % 26.48 % 13.67 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
366 PGD-FCOS3D code 16.51 % 26.89 % 13.49 % 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.
367 ImVoxelNet code 16.37 % 25.19 % 13.58 % 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.
368 KM3D code 16.20 % 23.44 % 14.47 % 0.03 s 1 core @ 2.5 Ghz (Python)
P. Li: Monocular 3D Detection with Geometric Constraints Embedding and Semi-supervised Training. 2020.
369 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.
370 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.
371 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.
372 QD-3DT
This is an online method (no batch processing).
 code 14.71 % 20.16 % 12.76 % 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.
373 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.
374 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.
375 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.
376 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 .
377 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.
378 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.
379 Plane-Constraints code 12.06 % 17.31 % 10.05 % 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.
380 MonoCInIS 11.64 % 22.28 % 9.95 % 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.
381 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.
382 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.
383 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.
384 MonoCInIS 10.96 % 20.42 % 9.23 % 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.
385 monospb 10.83 % 14.92 % 9.55 % 0.01 s 1 core @ 2.5 Ghz (Python)
386 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.
387 TLNet (Stereo)
This method uses stereo information.
 code 7.69 % 13.71 % 6.73 % 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.
388 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.
389 SparVox3D 6.39 % 10.20 % 5.06 % 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.
390 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.
391 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.
392 WeakM3D code 5.66 % 11.82 % 4.08 % 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.
393 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.
394 3D-GCK 4.57 % 5.79 % 3.64 % 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.
395 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.
396 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.
397 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 .
398 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.
399 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 PiFeNet code 53.92 % 63.25 % 50.53 % 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.
2 CasA++ code 53.84 % 60.14 % 51.35 % 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.
3 TED code 53.48 % 60.13 % 50.89 % 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.
4 UPIDet code 53.32 % 58.91 % 50.82 % 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.
5 EQ-PVRCNN code 52.81 % 61.73 % 49.87 % 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.
6 PillarHist 52.77 % 62.52 % 49.29 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
7 VPFNet code 52.41 % 60.07 % 50.28 % 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.
8 Frustum-PointPillars code 52.23 % 60.98 % 48.30 % 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.
9 LoGoNet code 52.06 % 58.24 % 49.87 % 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.
10 ImagePG 51.77 % 58.37 % 48.23 % 1 s 1 core @ 2.5 Ghz (C/C++)
11 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.
12 CasA code 51.37 % 57.95 % 49.08 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
H. Wu, J. Deng, C. Wen, X. Li and C. Wang: CasA: A Cascade Attention Network for 3D Object Detection from LiDAR point clouds. IEEE Transactions on Geoscience and Remote Sensing 2022.
13 AFFN-G 51.34 % 58.94 % 49.21 % 0.5 s 1 core @ 2.5 Ghz (C/C++)
14 GEFPN 51.34 % 58.94 % 49.21 % 0.5 s 1 core @ 2.5 Ghz (C/C++)
15 GeVo 51.34 % 58.94 % 49.21 % 0.05 s 1 core @ 2.5 Ghz (C/C++)
16 MLF-DET 50.88 % 56.45 % 47.60 % 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.
17 BVIFusion+ 50.78 % 57.56 % 47.31 % 0.09 s 1 core @ 2.5 Ghz (Python)
18 SVFMamba code 50.68 % 60.47 % 48.07 % N/A s 1 core @ 2.5 Ghz (C/C++)
19 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.
20 DPPFA-Net 50.55 % 57.02 % 47.25 % 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.
21 HotSpotNet 50.53 % 57.39 % 46.65 % 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.
22 LumiNet code 50.44 % 57.64 % 46.74 % 0.1 s 1 core @ 2.5 Ghz (Python)
23 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.
24 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.
25 vsis-PHNet 50.23 % 59.41 % 47.62 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
26 PHNetp 50.23 % 59.41 % 47.62 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
27 CGML 50.20 % 56.57 % 48.12 % 0.33 s 1 core @ 2.5 Ghz (C/C++)
28 HA-PillarNet 50.06 % 57.38 % 47.76 % 0.05 s 1 core @ 2.5 Ghz (Python)
29 3DSSD code 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.
30 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.
31 SemanticVoxels 49.93 % 58.91 % 47.31 % 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.
32 SFA_IGCL_Focalsconv* code 49.82 % 57.49 % 47.56 % 0.2 s 1 core @ 2.5 Ghz (C/C++)
33 ACDet code 49.82 % 58.35 % 47.17 % 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.
34 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.
35 USVLab BSAODet code 49.75 % 56.05 % 47.59 % 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.
36 ACFNet 49.74 % 58.07 % 47.27 % 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.
37 New_VLGCL code 49.68 % 56.96 % 47.38 % 0.4 s 1 core @ 2.5 Ghz (Python)
38 dsvd+vx 49.68 % 58.10 % 47.07 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
39 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.
40 VLGCL_NoText code 49.31 % 56.49 % 47.20 % 0.3 s 1 core @ 2.5 Ghz (Python)
41 R2Pfusion-Det 49.02 % 56.91 % 45.38 % 0.3 s 1 core @ 2.5 Ghz (C/C++)
42 FocalsConv* 48.98 % 55.61 % 45.63 % 0.2 s 1 core @ 2.5 Ghz (C/C++)
43 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.
44 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.
45 CAT-Det 48.78 % 57.13 % 45.56 % 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.
46 STD code 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.
47 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.
48 FIRM-Net_SCF+ 48.61 % 55.81 % 46.25 % 0.07 s 1 core @ 2.5 Ghz (Python)
49 EPNet++ 48.47 % 56.24 % 45.73 % 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.
50 FIRM-Net-SCF 48.47 % 55.70 % 46.08 % 0.07 s 1 core @ 2.5 Ghz (Python)
51 MGAF-3DSSD code 48.46 % 56.09 % 44.90 % 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.
52 Fast-CLOCs 48.27 % 57.19 % 44.55 % 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.
53 FromVoxelToPoint code 48.15 % 56.54 % 45.63 % 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.
54 EOTL code 47.80 % 56.52 % 43.36 % 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.
55 HMFI code 47.77 % 55.61 % 45.17 % 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.
56 SpaA 47.67 % 53.74 % 45.55 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
57 P2V-RCNN 47.36 % 54.15 % 45.10 % 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.
58 Voxel RCNN-Focal* code 47.35 % 54.62 % 44.42 % 0.2 s 1 core @ 2.5 Ghz (Python)
59 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.
60 3ONet 47.05 % 56.76 % 44.62 % 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.
61 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.
62 HMNet 46.69 % 54.73 % 43.46 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
63 PASS-PV-RCNN-Plus 46.36 % 51.47 % 44.10 % 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.
64 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.
65 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.
66 WWW 45.86 % 53.53 % 43.63 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
67 DSA-PV-RCNN
This method makes use of Velodyne laser scans.
 code 45.82 % 52.03 % 43.81 % 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.
68 DPFusion code 45.78 % 53.33 % 43.53 % 0.07 s 1 core @ 2.5 Ghz (C/C++)
69 SVGA-Net 45.68 % 53.09 % 43.30 % 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.
70 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.
71 PG-RCNN code 45.48 % 51.63 % 43.30 % 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.
72 PDV code 45.45 % 51.95 % 43.33 % 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.
73 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.
74 AFFN 45.26 % 50.50 % 43.21 % 0.5 s 1 core @ 2.5 Ghz (C/C++)
75 CAIA_PRO code 45.16 % 51.68 % 42.69 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
76 L_SACINet 45.13 % 55.35 % 42.62 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
77 IA-SSD (single) code 45.07 % 52.73 % 42.75 % 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.
78 DFAF3D 45.01 % 52.86 % 42.73 % 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.
79 MPC3DNet 44.89 % 49.33 % 43.01 % 0.05 s GPU @ 1.5 Ghz (Python)
80 AFFN-Ga 44.85 % 50.57 % 42.78 % 0.5 s 1 core @ 2.5 Ghz (C/C++)
81 SRDL 44.84 % 52.42 % 42.56 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
ERROR: Wrong syntax in BIBTEX file.
82 M3DeTR code 44.78 % 50.63 % 42.57 % 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.
83 test 44.57 % 49.95 % 42.55 % 0.04 s GPU @ 1.5 Ghz (Python + C/C++)
84 SIF 44.28 % 52.05 % 42.03 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
P. An: SIF. Submitted to CVIU 2021.
85 work6_new1 44.24 % 51.79 % 41.96 % 0.5 s GPU @ 2.5 Ghz (Python)
86 NoText_VLGCL code 44.18 % 51.36 % 41.91 % 0.2 s 1 core @ 2.5 Ghz (Python)
87 R50_SACINet 44.17 % 52.52 % 41.84 % 0.06 s 1 core @ 2.5 Ghz (C/C++)
88 DVFENet 44.12 % 50.98 % 41.62 % 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.
89 Faraway-Frustum
This method makes use of Velodyne laser scans.
 code 43.85 % 52.15 % 41.68 % 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.
90 S-AT GCN 43.43 % 50.63 % 41.58 % 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.
91 XPillars
This method makes use of Velodyne laser scans.
 43.10 % 51.95 % 40.57 % 0.02 s GPU @ 2.5 Ghz (Python)
92 SecAtten 42.89 % 51.42 % 40.28 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
93 BirdNet+
This method makes use of Velodyne laser scans.
 code 42.87 % 48.90 % 40.59 % 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.
94 L-AUG 42.84 % 50.32 % 40.29 % 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.
95 AEPF 42.84 % 50.61 % 40.74 % 0.05 s GPU @ 2.5 Ghz (Python)
96 PCNet3D++ 42.81 % 50.62 % 40.36 % 0.5 s GPU @ 3.5 Ghz (Python)
97 DSFNet 42.68 % 51.31 % 39.65 % 0.5 s GPU @ 2.5 Ghz (Python)
98 IA-SSD (multi) code 42.61 % 51.76 % 40.51 % 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.
99 SA V1 42.45 % 49.18 % 40.32 % 0.5 s GPU @ 2.5 Ghz (Python)
100 XView 42.42 % 47.24 % 39.96 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
L. Xie, G. Xu, D. Cai and X. He: X-view: Non-egocentric Multi-View 3D Object Detector. 2021.
101 PCNet3D 42.19 % 50.02 % 39.69 % 0.05 s GPU @ 3.5 Ghz (Python)
102 CS3D 42.05 % 49.61 % 39.90 % 0.5 s 1 core @ 2.5 Ghz (Python)
103 GraphAlign(ICCV2023) code 41.95 % 46.61 % 40.05 % 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.
104 MSMA V1 41.94 % 48.10 % 40.05 % 0.5 s GPU @ 2.5 Ghz (Python)
105 DNet 41.84 % 50.30 % 39.49 % 0.5 s 1 core @ 2.5 Ghz (C/C++)
106 SeSame-voxel code 41.59 % 50.12 % 37.79 % 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.
107 HINTED code 41.55 % 53.09 % 39.18 % 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.
108 SeSame-point code 41.22 % 48.25 % 39.18 % 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.
109 PFF3D
This method makes use of Velodyne laser scans.
 code 40.94 % 48.74 % 38.54 % 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.
110 geo-pillars 40.91 % 47.95 % 38.49 % 0.05 s 1 core @ 2.5 Ghz (C/C++)
ERROR: Wrong syntax in BIBTEX file.
111 focal 40.56 % 46.08 % 38.76 % 100 s 1 core @ 2.5 Ghz (Python)
112 DensePointPillars 40.31 % 47.80 % 37.49 % 0.03 s GPU @ 2.5 Ghz (Python)
113 Fade-kd 39.38 % 47.19 % 36.42 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
114 DSGN++
This method uses stereo information.
 code 38.92 % 50.26 % 35.12 % 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.
115 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.
116 BirdNet+ (legacy)
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. 2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC) 2020.
117 PointPillars_mmdet3d 38.07 % 45.74 % 35.76 % 0.03 s 1 core @ 2.5 Ghz (Python)
118 PL++: PV-RCNN++
This method uses stereo information.
This method makes use of Velodyne laser scans.
 37.96 % 44.88 % 35.48 % 0.342 s RTX 4060Ti (Python)
X. Gong, X. Huang, S. Chen and B. Zhang: Enhancing 3D Detection Accuracy in Autonomous Driving through Pseudo-LiDAR Augmentation and Downsampling. 2024 International Conference on Image Processing, Computer Vision and Machine Learning (ICICML) 2024.
119 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.
120 StereoDistill 37.75 % 50.79 % 34.28 % 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.
121 SeSame-pillar code 37.31 % 44.21 % 35.17 % 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.
122 T-SSD 35.17 % 43.33 % 33.02 % 0.04 1 core @ 2.0 Ghz (C/C++)
123 DMF
This method uses stereo information.
 34.92 % 42.08 % 32.69 % 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.
124 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.
125 MMLAB LIGA-Stereo
This method uses stereo information.
 code 34.13 % 44.71 % 30.42 % 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.
126 SeSame-voxel w/score code 33.76 % 39.42 % 31.31 % 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.
127 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.
128 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.
129 SeSame-pillar w/scor code 32.78 % 39.11 % 30.87 % 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.
130 CG-Stereo
This method uses stereo information.
 29.56 % 39.24 % 25.87 % 0.57 s GeForce RTX 2080 Ti
C. Li, J. Ku and S. Waslander: Confidence Guided Stereo 3D Object Detection with Split Depth Estimation. IROS 2020.
131 PointRGBNet 29.32 % 38.07 % 26.94 % 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.
132 Fade 3D code 29.18 % 36.14 % 27.42 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
W. Ye, Q. Xia, H. Wu, Z. Dong, R. Zhong, C. Wang and C. Wen: Fade3D: Fast and Deployable 3D Object Detection for Autonomous Driving. IEEE Transactions on Intelligent Transportation Systems 2025.
133 Disp R-CNN
This method uses stereo information.
 code 29.12 % 42.72 % 25.09 % 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.
134 Disp R-CNN (velo)
This method uses stereo information.
 code 28.34 % 40.21 % 24.46 % 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.
135 SeSame-point w/score code 25.79 % 33.98 % 22.50 % 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.
136 CPD++(unsupervised) code 24.43 % 28.36 % 23.22 % 0.1 s GPU @ >3.5 Ghz (Python)
137 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.
138 OC Stereo
This method uses stereo information.
 code 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.
139 YOLOStereo3D
This method uses stereo information.
 code 20.76 % 31.01 % 18.41 % 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.
140 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.
141 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.
142 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.
143 RT3D-GMP
This method uses stereo information.
 14.22 % 19.92 % 12.83 % 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.
144 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.
145 ESGN
This method uses stereo information.
 13.03 % 17.94 % 11.54 % 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.
146 MonoMH code 12.70 % 18.63 % 11.06 % 0.04 s 1 core @ 2.5 Ghz (Python)
147 MDD-M3D-X 12.53 % 19.10 % 10.78 % 0.01 s 1 core @ 2.5 Ghz (Python)
148 DD3D code 12.51 % 18.58 % 10.65 % 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) .
149 MonoLSS 12.34 % 18.40 % 10.54 % 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.
150 MonoAFKD 12.30 % 18.37 % 10.47 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
151 PS-fld code 12.23 % 19.03 % 10.53 % 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.
152 MonoHPE 11.96 % 17.89 % 10.14 % 0.04 s 1 core @ 2.5 Ghz (Python)
153 CIE 11.94 % 17.90 % 10.34 % 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.
154 MonoHPE-Mask 11.91 % 17.30 % 10.09 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
155 AM 11.87 % 17.55 % 10.21 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
156 MonoCoP 11.80 % 17.69 % 10.22 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
157 CPD(unsupervised) code 11.09 % 13.48 % 10.19 % 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.
158 OPA-3D code 11.01 % 17.14 % 9.94 % 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.
159 MonoUNI code 10.90 % 16.54 % 9.17 % 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.
160 MonoGLS 10.79 % 16.46 % 9.67 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
161 IDEAL-M3D 60% 10.65 % 16.74 % 8.83 % 0.04 s 1 core @ 2.5 Ghz (Python)
162 MonoDTR 10.59 % 16.66 % 9.00 % 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.
163 MonoFRD 10.38 % 15.68 % 8.79 % 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.
164 GUPNet code 10.37 % 15.62 % 8.79 % 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.
165 CMKD code 10.28 % 16.03 % 8.85 % 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.
166 DEVIANT code 9.77 % 14.49 % 8.28 % 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.
167 PS-SVDM 9.75 % 15.03 % 8.37 % 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.
168 MonoNeRD code 9.66 % 15.27 % 8.28 % 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.
169 LLW 9.42 % 15.02 % 7.98 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
170 CaDDN code 9.41 % 14.72 % 8.17 % 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.
171 SGM3D code 9.39 % 15.39 % 8.61 % 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.
172 AMNet+DDAD15M code 9.30 % 14.10 % 8.02 % 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.
173 AMNet code 9.30 % 14.02 % 7.93 % 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.
174 MonoRCNN++ code 9.04 % 13.45 % 7.74 % 0.07 s GPU @ 2.5 Ghz (Python)
X. Shi, Z. Chen and T. Kim: Multivariate Probabilistic Monocular 3D Object Detection. WACV 2023.
175 HomoLoss(monoflex) code 8.81 % 13.26 % 7.41 % 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.
176 mdab 8.79 % 13.79 % 7.99 % 0.02 s 1 core @ 2.5 Ghz (Python)
177 SAKD-MR-Res18 8.60 % 13.52 % 7.18 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
178 temp 8.46 % 12.62 % 7.24 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
179 MonoDDE 8.41 % 12.38 % 7.16 % 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.
180 Mix-Teaching code 8.40 % 12.34 % 7.06 % 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.
181 MDSNet 8.18 % 12.05 % 7.03 % 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.
182 PS-SVDM 8.11 % 12.70 % 6.84 % 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.
183 LPCG-Monoflex code 7.92 % 12.11 % 6.61 % 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.
184 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.
185 Cube R-CNN code 7.65 % 11.67 % 6.60 % 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.
186 MonoRUn code 7.59 % 11.70 % 6.34 % 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.
187 MonoFlex 7.36 % 10.36 % 6.29 % 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.
188 DA3D+KM3D+v2-99 code 7.06 % 10.32 % 6.10 % 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.
189 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.
190 monodle code 6.96 % 10.73 % 6.20 % 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 .
191 MonOAPC 6.82 % 9.62 % 5.78 % 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.
192 UniCuboid 6.75 % 10.26 % 5.61 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
193 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.
194 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.
195 FMF-occlusion-net 5.62 % 8.69 % 5.25 % 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.
196 Aug3D-RPN 5.22 % 7.14 % 4.21 % 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.
197 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.
198 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.
199 DFR-Net 4.52 % 6.66 % 3.71 % 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.
200 monospb 4.50 % 6.15 % 3.76 % 0.01 s 1 core @ 2.5 Ghz (Python)
201 QD-3DT
This is an online method (no batch processing).
 code 4.23 % 6.62 % 3.39 % 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.
202 DA3D+KM3D code 4.05 % 5.94 % 3.55 % 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.
203 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 .
204 DDMP-3D 4.02 % 5.53 % 3.36 % 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.
205 CMAN 3.96 % 5.24 % 3.18 % 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.
206 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.
207 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.
208 DA3D code 3.27 % 4.93 % 2.74 % 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.
209 MonoEF 3.05 % 4.61 % 2.85 % 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.
210 MonoLiG code 2.72 % 3.74 % 2.55 % 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.
211 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.
212 SparVox3D 2.05 % 2.90 % 1.69 % 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.
213 PGD-FCOS3D code 1.88 % 2.82 % 1.54 % 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.
214 Plane-Constraints code 1.16 % 1.87 % 1.13 % 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.
215 GATE3D code 0.17 % 0.15 % 0.17 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
216 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 ImagePG 78.93 % 90.17 % 70.14 % 1 s 1 core @ 2.5 Ghz (C/C++)
2 UPIDet code 78.19 % 89.65 % 71.13 % 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.
3 CasA++ code 76.99 % 88.93 % 70.10 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
H. Wu, J. Deng, C. Wen, X. Li and C. Wang: CasA: A Cascade Attention Network for 3D Object Detection from LiDAR point clouds. IEEE Transactions on Geoscience and Remote Sensing 2022.
4 TED code 76.95 % 89.54 % 70.31 % 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.
5 CasA code 75.74 % 88.99 % 68.47 % 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.
6 LoGoNet code 74.92 % 85.85 % 67.62 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
X. Li, T. Ma, Y. Hou, B. Shi, Y. Yang, Y. Liu, X. Wu, Q. Chen, Y. Li, Y. Qiao and others: LoGoNet: Towards Accurate 3D Object Detection with Local-to-Global Cross-Modal Fusion. CVPR 2023.
7 MLF-DET 74.88 % 86.20 % 66.75 % 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.
8 USVLab BSAODet code 74.38 % 85.01 % 67.38 % 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.
9 SpaA 74.34 % 87.14 % 66.45 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
10 vsis-PHNet 74.17 % 88.70 % 67.26 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
11 HMFI code 74.06 % 85.69 % 67.11 % 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.
12 EQ-PVRCNN code 73.30 % 86.25 % 65.49 % 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.
13 PHNetc 72.91 % 86.97 % 66.23 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
14 DSA-PV-RCNN
This method makes use of Velodyne laser scans.
 code 72.61 % 83.93 % 65.82 % 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.
15 CAT-Det 72.51 % 85.35 % 65.55 % 0.3 s GPU @ 2.5 Ghz (Python + C/C++)
Y. Zhang, J. Chen and D. Huang: CAT-Det: Contrastively Augmented Transformer for Multi-modal 3D Object Detection. CVPR 2022.
16 AFFN 72.50 % 86.25 % 65.38 % 0.5 s 1 core @ 2.5 Ghz (C/C++)
17 GEFPN 72.50 % 86.25 % 65.38 % 0.5 s 1 core @ 2.5 Ghz (C/C++)
18 WWW 72.08 % 83.76 % 65.33 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
19 CGML 72.05 % 83.52 % 66.71 % 0.33 s 1 core @ 2.5 Ghz (C/C++)
20 MPC3DNet 71.88 % 84.37 % 64.96 % 0.05 s GPU @ 1.5 Ghz (Python)
21 dsvd+vx 71.87 % 88.92 % 63.73 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
22 VLGCL_NoText code 71.83 % 83.04 % 66.48 % 0.3 s 1 core @ 2.5 Ghz (Python)
23 BtcDet
This method makes use of Velodyne laser scans.
 code 71.76 % 84.48 % 64.70 % 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.
24 ACFNet 71.68 % 85.76 % 65.33 % 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.
25 RagNet3D code 71.64 % 85.10 % 65.02 % 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 .
26 test 71.59 % 86.32 % 64.31 % 0.04 s GPU @ 1.5 Ghz (Python + C/C++)
27 AFFN-G 71.57 % 82.10 % 65.37 % 0.5 s 1 core @ 2.5 Ghz (C/C++)
28 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.
29 PASS-PV-RCNN-Plus 71.51 % 83.03 % 63.85 % 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.
30 RangeIoUDet
This method makes use of Velodyne laser scans.
 71.49 % 85.99 % 63.62 % 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.
31 ACDet code 71.48 % 87.76 % 64.69 % 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.
32 IA-SSD (single) code 71.44 % 85.91 % 63.41 % 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.
33 PDV code 71.31 % 85.54 % 64.40 % 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.
34 3ONet 71.29 % 85.17 % 62.99 % 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.
35 DFAF3D 71.27 % 85.75 % 64.25 % 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.
36 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.
37 M3DeTR code 70.89 % 85.03 % 63.14 % 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.
38 PG-RCNN code 70.65 % 84.94 % 64.03 % 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.
39 DPFusion code 70.26 % 83.57 % 62.01 % 0.07 s 1 core @ 2.5 Ghz (C/C++)
40 SPG_mini
This method makes use of Velodyne laser scans.
 code 70.09 % 82.66 % 63.61 % 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.
41 AFFN-Ga 69.71 % 81.79 % 63.36 % 0.5 s 1 core @ 2.5 Ghz (C/C++)
42 GraphAlign(ICCV2023) code 69.43 % 80.71 % 63.57 % 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.
43 FIRM-Net_SCF+ 69.29 % 83.14 % 61.31 % 0.07 s 1 core @ 2.5 Ghz (Python)
44 BVIFusion+ 69.18 % 83.51 % 62.71 % 0.09 s 1 core @ 2.5 Ghz (Python)
45 FIRM-Net-SCF 69.11 % 83.08 % 61.21 % 0.07 s 1 core @ 2.5 Ghz (Python)
46 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.
47 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.
48 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.
49 New_VLGCL code 68.66 % 78.63 % 64.57 % 0.4 s 1 core @ 2.5 Ghz (Python)
50 HotSpotNet 68.51 % 83.29 % 61.84 % 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.
51 LumiNet code 68.42 % 85.56 % 61.65 % 0.1 s 1 core @ 2.5 Ghz (Python)
52 P2V-RCNN 68.06 % 81.09 % 60.73 % 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.
53 focal 68.06 % 80.78 % 62.15 % 100 s 1 core @ 2.5 Ghz (Python)
54 GeVo 68.06 % 80.78 % 62.15 % 0.05 s 1 core @ 2.5 Ghz (C/C++)
55 SVFMamba code 68.02 % 80.22 % 61.54 % N/A s 1 core @ 2.5 Ghz (C/C++)
56 SFA_IGCL_Focalsconv* code 67.90 % 77.55 % 63.36 % 0.2 s 1 core @ 2.5 Ghz (C/C++)
57 H^23D R-CNN code 67.90 % 82.76 % 60.49 % 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.
58 CAIA_PRO code 67.77 % 82.00 % 60.92 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
59 FocalsConv* 67.73 % 80.18 % 62.82 % 0.2 s 1 core @ 2.5 Ghz (C/C++)
60 VPFNet code 67.66 % 80.83 % 61.36 % 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.
61 3DSSD code 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.
62 Fast-CLOCs 67.55 % 83.34 % 59.61 % 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.
63 DVFENet 67.40 % 82.29 % 60.71 % 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.
64 FromVoxelToPoint code 67.36 % 82.68 % 59.15 % 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.
65 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.
66 HINTED code 67.27 % 81.53 % 60.88 % 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.
67 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.
68 STD code 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.
69 XPillars
This method makes use of Velodyne laser scans.
 66.92 % 79.31 % 61.11 % 0.02 s GPU @ 2.5 Ghz (Python)
70 HMNet 66.86 % 83.17 % 60.00 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
71 SVGA-Net 66.82 % 81.25 % 59.37 % 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.
72 L_SACINet 66.72 % 80.63 % 60.50 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
73 S-AT GCN 66.71 % 78.53 % 60.19 % 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.
74 R2Pfusion-Det 66.53 % 81.74 % 57.90 % 0.3 s 1 core @ 2.5 Ghz (C/C++)
75 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.
76 SecAtten 66.30 % 79.23 % 60.98 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
77 IA-SSD (multi) code 66.29 % 81.30 % 59.58 % 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.
78 MGAF-3DSSD code 66.00 % 83.03 % 57.57 % 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.
79 Voxel RCNN-Focal* code 65.96 % 76.61 % 61.13 % 0.2 s 1 core @ 2.5 Ghz (Python)
80 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.
81 EOTL code 65.76 % 81.44 % 56.47 % 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.
82 SA V1 65.54 % 78.53 % 58.69 % 0.5 s GPU @ 2.5 Ghz (Python)
83 T-SSD 65.13 % 82.12 % 59.42 % 0.04 1 core @ 2.0 Ghz (C/C++)
84 MSMA V1 65.12 % 79.61 % 58.84 % 0.5 s GPU @ 2.5 Ghz (Python)
85 NoText_VLGCL code 64.76 % 79.14 % 60.05 % 0.2 s 1 core @ 2.5 Ghz (Python)
86 Faraway-Frustum
This method makes use of Velodyne laser scans.
 code 64.54 % 79.65 % 57.84 % 0.1 s GPU @ 2.5 Ghz (Python)
H. Zhang, D. Yang, E. Yurtsever, K. Redmill and U. Ozguner: Faraway-frustum: Dealing with lidar sparsity for 3D object detection using fusion. 2021 IEEE International Intelligent Transportation Systems Conference (ITSC) 2021.
87 SRDL 64.52 % 79.64 % 57.90 % 0.05 s 1 core @ 2.5 Ghz (Python + C/C++)
ERROR: Wrong syntax in BIBTEX file.
88 HA-PillarNet 64.49 % 76.94 % 59.14 % 0.05 s 1 core @ 2.5 Ghz (Python)
89 PCNet3D++ 64.20 % 80.19 % 57.09 % 0.5 s GPU @ 3.5 Ghz (Python)
90 SIF 64.13 % 79.32 % 57.38 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
P. An: SIF. Submitted to CVIU 2021.
91 DSFNet 63.85 % 76.70 % 56.67 % 0.5 s GPU @ 2.5 Ghz (Python)
92 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.
93 R50_SACINet 63.76 % 76.73 % 57.71 % 0.06 s 1 core @ 2.5 Ghz (C/C++)
94 geo-pillars 63.75 % 77.99 % 56.39 % 0.05 s 1 core @ 2.5 Ghz (C/C++)
ERROR: Wrong syntax in BIBTEX file.
95 DensePointPillars 63.27 % 75.14 % 56.70 % 0.03 s GPU @ 2.5 Ghz (Python)
96 XView 63.06 % 81.32 % 56.65 % 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.
97 EPNet++ 62.94 % 78.57 % 56.62 % 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.
98 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.
99 L-AUG 62.56 % 75.41 % 56.86 % 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.
100 PCNet3D 62.48 % 78.52 % 55.54 % 0.05 s GPU @ 3.5 Ghz (Python)
101 CS3D 62.47 % 78.77 % 55.59 % 0.5 s 1 core @ 2.5 Ghz (Python)
102 work6_new1 62.26 % 76.21 % 55.99 % 0.5 s GPU @ 2.5 Ghz (Python)
103 Fade-kd 61.78 % 77.70 % 55.39 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
104 PointPillars_mmdet3d 61.70 % 75.76 % 54.77 % 0.03 s 1 core @ 2.5 Ghz (Python)
105 SeSame-point code 61.70 % 75.73 % 55.27 % 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.
106 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.
107 DNet 61.04 % 75.48 % 54.48 % 0.5 s 1 core @ 2.5 Ghz (C/C++)
108 SeSame-pillar code 60.21 % 72.22 % 53.67 % 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.
109 PillarHist 59.94 % 74.77 % 52.78 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
110 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.
111 BirdNet+
This method makes use of Velodyne laser scans.
 code 59.58 % 70.84 % 54.20 % 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.
112 SeSame-voxel code 59.36 % 76.95 % 53.14 % 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.
113 DMF
This method uses stereo information.
 57.99 % 71.92 % 51.55 % 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.
114 PointRGBNet 57.59 % 73.09 % 51.78 % 0.08 s 4 cores @ 2.5 Ghz (Python + C/C++)
P. Xie Desheng: Real-time Detection of 3D Objects Based on Multi-Sensor Information Fusion. Automotive Engineering 2022.
115 AEPF 57.14 % 70.78 % 51.33 % 0.05 s GPU @ 2.5 Ghz (Python)
116 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.
117 PiFeNet code 56.94 % 72.80 % 50.04 % 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.
118 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.
119 PFF3D
This method makes use of Velodyne laser scans.
 code 55.71 % 72.67 % 49.58 % 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.
120 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.
121 Fade 3D code 55.00 % 71.51 % 48.65 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
W. Ye, Q. Xia, H. Wu, Z. Dong, R. Zhong, C. Wang and C. Wen: Fade3D: Fast and Deployable 3D Object Detection for Autonomous Driving. IEEE Transactions on Intelligent Transportation Systems 2025.
122 PL++: PV-RCNN++
This method uses stereo information.
This method makes use of Velodyne laser scans.
 53.64 % 67.88 % 46.87 % 0.342 s RTX 4060Ti (Python)
X. Gong, X. Huang, S. Chen and B. Zhang: Enhancing 3D Detection Accuracy in Autonomous Driving through Pseudo-LiDAR Augmentation and Downsampling. 2024 International Conference on Image Processing, Computer Vision and Machine Learning (ICICML) 2024.
123 BirdNet+ (legacy)
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. 2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC) 2020.
124 DSGN++
This method uses stereo information.
 code 49.37 % 68.29 % 43.79 % 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.
125 StereoDistill 48.37 % 69.46 % 42.69 % 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.
126 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.
127 SeSame-voxel w/score code 45.61 % 58.94 % 40.68 % 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.
128 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.
129 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.
130 MMLAB LIGA-Stereo
This method uses stereo information.
 code 40.60 % 58.95 % 35.27 % 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.
131 CPD++(unsupervised) code 36.97 % 56.35 % 32.33 % 0.1 s GPU @ >3.5 Ghz (Python)
132 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.
133 CG-Stereo
This method uses stereo information.
 36.25 % 55.33 % 32.17 % 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.
134 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.
135 Disp R-CNN (velo)
This method uses stereo information.
 code 27.04 % 44.19 % 23.58 % 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.
136 Disp R-CNN
This method uses stereo information.
 code 27.04 % 44.19 % 23.58 % 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.
137 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.
138 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.
139 SeSame-pillar w/scor code 19.53 % 15.92 % 17.61 % 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.
140 OC Stereo
This method uses stereo information.
 code 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.
141 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.
142 RT3D-GMP
This method uses stereo information.
 13.92 % 20.59 % 12.74 % 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.
143 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.
144 ESGN
This method uses stereo information.
 9.02 % 15.78 % 7.96 % 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.
145 SeSame-point w/score code 8.90 % 10.65 % 7.68 % 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.
146 CMKD code 8.15 % 14.66 % 7.23 % 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.
147 PS-fld code 7.29 % 12.80 % 6.05 % 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.
148 MDD-M3D-X 7.15 % 12.20 % 6.14 % 0.01 s 1 core @ 2.5 Ghz (Python)
149 MonoLiG code 6.49 % 9.48 % 5.46 % 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.
150 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.
151 CPD(unsupervised) code 6.27 % 9.11 % 5.34 % 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.
152 MonoGLS 6.05 % 8.99 % 5.33 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
153 MonoMH code 5.92 % 9.21 % 5.30 % 0.04 s 1 core @ 2.5 Ghz (Python)
154 DA3D+KM3D+v2-99 code 5.82 % 9.73 % 4.88 % 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.
155 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.
156 DD3D code 5.69 % 9.20 % 5.20 % 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) .
157 MonoLSS 5.52 % 8.88 % 4.98 % 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 MonoAFKD 5.44 % 8.75 % 4.88 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
159 IDEAL-M3D 60% 5.39 % 8.85 % 4.87 % 0.04 s 1 core @ 2.5 Ghz (Python)
160 CaDDN code 5.38 % 9.67 % 4.75 % 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.
161 Mix-Teaching code 5.36 % 8.56 % 4.62 % 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.
162 PS-SVDM 5.34 % 9.20 % 4.31 % 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.
163 MonoCoP 5.27 % 8.31 % 4.44 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
164 MonoHPE 5.16 % 8.07 % 4.93 % 0.04 s 1 core @ 2.5 Ghz (Python)
165 MonoUNI code 5.03 % 8.25 % 4.50 % 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.
166 MonoHPE-Mask 4.99 % 8.69 % 4.75 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
167 LPCG-Monoflex code 4.90 % 8.14 % 3.86 % 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.
168 Plane-Constraints code 4.79 % 8.67 % 3.90 % 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.
169 AMNet code 4.62 % 7.89 % 4.00 % 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.
170 MonoFRD 4.55 % 8.44 % 4.14 % 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.
171 MonoDDE 4.36 % 6.68 % 3.76 % 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.
172 AM 4.18 % 6.02 % 3.62 % 0.04 s 1 core @ 2.5 Ghz (C/C++)
173 MonoDTR 4.11 % 5.84 % 3.48 % 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.
174 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.
175 HomoLoss(monoflex) code 4.09 % 6.81 % 3.78 % 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.
176 DFR-Net 4.00 % 5.99 % 3.95 % 0.18 s 1080 Ti (Pytorch)
Z. Zou, X. Ye, L. Du, X. Cheng, X. Tan, L. Zhang, J. Feng, X. Xue and E. Ding: The devil is in the task: Exploiting reciprocal appearance-localization features for monocular 3d object detection . ICCV 2021.
177 DEVIANT code 3.97 % 6.42 % 3.51 % 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.
178 GUPNet code 3.85 % 6.94 % 3.64 % 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.
179 OPA-3D code 3.75 % 6.01 % 3.56 % 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.
180 CIE 3.74 % 6.13 % 3.18 % 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.
181 PS-SVDM 3.64 % 6.84 % 3.04 % 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.
182 SGM3D code 3.63 % 7.05 % 3.33 % 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.
183 AMNet+DDAD15M code 3.61 % 5.54 % 3.19 % 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.
184 UniCuboid 3.60 % 6.73 % 3.30 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
185 Cube R-CNN code 3.35 % 5.01 % 3.23 % 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.
186 Aug3D-RPN 3.33 % 5.44 % 2.82 % 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.
187 MonOAPC 3.31 % 6.54 % 3.05 % 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.
188 temp 3.31 % 5.62 % 2.71 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
189 monodle code 3.28 % 5.34 % 2.83 % 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 .
190 MDSNet 3.22 % 5.99 % 2.62 % 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.
191 DDMP-3D 3.14 % 4.92 % 2.44 % 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.
192 QD-3DT
This is an online method (no batch processing).
 code 3.02 % 5.71 % 2.73 % 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.
193 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.
194 MonoNeRD code 2.80 % 5.24 % 2.55 % 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.
195 LLW 2.76 % 4.42 % 2.36 % 0.1 s 1 core @ 2.5 Ghz (C/C++)
196 MonoFlex 2.67 % 4.41 % 2.50 % 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.
197 mdab 2.63 % 4.95 % 2.65 % 0.02 s 1 core @ 2.5 Ghz (Python)
198 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.
199 MonoRCNN++ code 2.31 % 3.50 % 2.01 % 0.07 s GPU @ 2.5 Ghz (Python)
X. Shi, Z. Chen and T. Kim: Multivariate Probabilistic Monocular 3D Object Detection. WACV 2023.
200 SAKD-MR-Res18 2.10 % 4.54 % 2.24 % 0.03 s 1 core @ 2.5 Ghz (C/C++)
201 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.
202 DA3D code 1.89 % 3.46 % 1.51 % 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.
203 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.
204 PGD-FCOS3D code 1.79 % 3.54 % 1.56 % 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.
205 monospb 1.76 % 3.24 % 1.81 % 0.01 s 1 core @ 2.5 Ghz (Python)
206 FMF-occlusion-net 1.65 % 1.91 % 1.75 % 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.
207 CMAN 1.48 % 1.76 % 1.17 % 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.
208 DA3D+KM3D code 1.44 % 2.88 % 1.37 % 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.
209 MonoEF 1.18 % 2.36 % 1.15 % 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.
210 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 .
211 MonoRUn code 0.73 % 1.14 % 0.66 % 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.
212 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.
213 GATE3D code 0.00 % 0.00 % 0.00 % 0.01 s 1 core @ 2.5 Ghz (C/C++)
214 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

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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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