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3D Object Detection 벤치마크

3D Object Detection on KITTI Cars Easy val

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AP

24.35 42.12 59.9 77.67 95.45 2016-11 2026-09 MV3D — 71.29 (2016-11-23) MV3D (LiDAR) — 71.19 (2016-11-23) MV3D — 71.29 (2016-11-23) MV3D (LiDAR) — 71.19 (2016-11-23) MV3D — 71.29 (2016-11-23) MV3D (LiDAR) — 71.19 (2016-11-23) MV3D — 71.29 (2016-11-23) MV3D (LiDAR) — 71.19 (2016-11-23) MV3D — 71.29 (2016-11-23) MV3D (LiDAR) — 71.19 (2016-11-23) MV3D — 71.29 (2016-11-23) MV3D (LiDAR) — 71.19 (2016-11-23) F-PointNet [Qi:2018fd] — 83.26 (2017-11-22) F-PointNet [Qi:2018fd] — 83.26 (2017-11-22) F-PointNet [Qi:2018fd] — 83.26 (2017-11-22) F-PointNet [Qi:2018fd] — 83.26 (2017-11-22) F-PointNet [Qi:2018fd] — 83.26 (2017-11-22) F-PointNet [Qi:2018fd] — 83.26 (2017-11-22) PVCNN — 84.02 (2019-07-08) PVCNN — 84.02 (2019-07-08) PVCNN — 84.02 (2019-07-08) PVCNN — 84.02 (2019-07-08) PVCNN — 84.02 (2019-07-08) PVCNN — 84.02 (2019-07-08) SVGA-Net — 90.59 (2020-06-07) SVGA-Net — 90.59 (2020-06-07) SVGA-Net — 90.59 (2020-06-07) SVGA-Net — 90.59 (2020-06-07) SVGA-Net — 90.59 (2020-06-07) SVGA-Net — 90.59 (2020-06-07) SA-SSD+EBM — 95.45 (2020-12-08) SA-SSD+EBM — 95.45 (2020-12-08) SA-SSD+EBM — 95.45 (2020-12-08) SA-SSD+EBM — 95.45 (2020-12-08) SA-SSD+EBM — 95.45 (2020-12-08) SA-SSD+EBM — 95.45 (2020-12-08) PC-RGNN — 90.94 (2020-12-18) PC-RGNN — 90.94 (2020-12-18) PC-RGNN — 90.94 (2020-12-18) PC-RGNN — 90.94 (2020-12-18) PC-RGNN — 90.94 (2020-12-18) PC-RGNN — 90.94 (2020-12-18) Voxel R-CNN — 89.41 (2020-12-31) Voxel R-CNN — 89.41 (2020-12-31) Voxel R-CNN — 89.41 (2020-12-31) Voxel R-CNN — 89.41 (2020-12-31) Voxel R-CNN — 89.41 (2020-12-31) Voxel R-CNN — 89.41 (2020-12-31) PV-RCNN++ — 92.57 (2021-01-31) PV-RCNN++ — 92.57 (2021-01-31) PV-RCNN++ — 92.57 (2021-01-31) PV-RCNN++ — 92.57 (2021-01-31) PV-RCNN++ — 92.57 (2021-01-31) PV-RCNN++ — 92.57 (2021-01-31) M3DeTR — 92.29 (2021-04-24) M3DeTR — 92.29 (2021-04-24) M3DeTR — 92.29 (2021-04-24) M3DeTR — 92.29 (2021-04-24) M3DeTR — 92.29 (2021-04-24) M3DeTR — 92.29 (2021-04-24) PGD — 24.35 (2021-07-29) PGD — 24.35 (2021-07-29) PGD — 24.35 (2021-07-29) PGD — 24.35 (2021-07-29) PGD — 24.35 (2021-07-29) PGD — 24.35 (2021-07-29) MV3D — 71.29 (2016-11-23) F-PointNet [Qi:2018fd] — 83.26 (2017-11-22) PVCNN — 84.02 (2019-07-08) SVGA-Net — 90.59 (2020-06-07) SA-SSD+EBM — 95.45 (2020-12-08)
RankModel AP PaperCodeYear
1 SA-SSD+EBM 95.45 Accurate 3D Object Detection using Energy-Based Models fregu856/ebms_3dod 2020
2 PV-RCNN++ 92.57 PV-RCNN++: Point-Voxel Feature Set Abstraction With Local Vector Representation for 3D Object Detection open-mmlab/OpenPCDet 2021
3 M3DeTR 92.29 M3DeTR: Multi-representation, Multi-scale, Mutual-relation 3D Object Detection with Transformers rayguan97/M3DeTR 2021
4 PC-RGNN 90.94 PC-RGNN: Point Cloud Completion and Graph Neural Network for 3D Object Detection 2020
5 SVGA-Net 90.59 SVGA-Net: Sparse Voxel-Graph Attention Network for 3D Object Detection from Point Clouds 2020
6 Voxel R-CNN 89.41 Voxel R-CNN: Towards High Performance Voxel-based 3D Object Detection open-mmlab/OpenPCDet · djiajunustc/Voxel-R-CNN · KangchengLiu/FAC_Foreground_Aware_Contrast · +2 2020
7 PVCNN 84.02 Point-Voxel CNN for Efficient 3D Deep Learning isl-org/Open3D-ML · mit-han-lab/pvcnn · zghera/voxel-tf-ops · +1 2019
8 F-PointNet [Qi:2018fd] 83.26 Frustum PointNets for 3D Object Detection from RGB-D Data charlesq34/pointnet · charlesq34/pointnet2 · charlesq34/frustum-pointnets · +65 2017
9 MV3D 71.29 Multi-View 3D Object Detection Network for Autonomous Driving bostondiditeam/MV3D · aaronfriedman6/MV3D_VoxelNet · shihaibi/MV3D 2016
10 MV3D (LiDAR) 71.19 Multi-View 3D Object Detection Network for Autonomous Driving bostondiditeam/MV3D · aaronfriedman6/MV3D_VoxelNet · shihaibi/MV3D 2016
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