Table 1.

3D detection performance: Average precision (AP) (%) for 3D box in the KITTI valuation set.

Method	Modality	Car			Cyclist			Pedestrian
		Easy	Mod.	Hard	Easy	Mod.	Hard	Easy	Mod.	Hard
MV3D	Img. & Lidar	71.09	62.35	55.12	N/A	N/A	N/A	N/A	N/A	N/A
AVOD	Img. & Lidar	81.94	71.88	66.38	64.00	52.18	46.61	50.80	42.81	40.88
F-PointNet	Img. & Lidar	81.20	70.39	62.19	71.96	56.77	50.39	51.21	44.89	51.21
VoxelNet	Lidar	77.47	65.11	57.73	61.22	48.36	44.37	39.48	33.69	31.50
PointPillars	Lidar	86.96	76.35	70.19	77.75	58.55	54.85	67.07	58.74	55.97
PVFE	Lidar	87.32	77.12	68.87	81.58	62.41	56.33	58.48	51.74	45.09
SECOND	Lidar	85.99	75.51	68.25	80.47	57.02	55.79	56.99	50.22	43.59
3D-GIoU	Lidar	87.83	77.91	75.55	83.32	64.69	63.51	67.23	59.58	52.69