Table 2.
Bird’s Eye View (BEV) detection performance: AP (%) for BEV box in the KITTI valuation set.
| Method | Modality | Car | Cyclist | Pedestrian | ||||||
|---|---|---|---|---|---|---|---|---|---|---|
| Easy | Mod. | Hard | Easy | Mod. | Hard | Easy | Mod. | Hard | ||
| MV3D | Img & Lidar | 86.02 | 76.90 | 68.48 | N/A | N/A | N/A | N/A | N/A | N/A |
| AVOD | Img & Lidar | 88.53 | 83.79 | 77.90 | 68.09 | 57.48 | 50.77 | 58.75 | 51.05 | 47.54 |
| F-PointNet | Img & Lidar | 88.07 | 84.00 | 75.33 | 75.38 | 61.96 | 54.68 | 58.09 | 50.22 | 47.02 |
| PIXOR | Lidar | 89.38 | 83.70 | 77.97 | N/A | N/A | N/A | N/A | N/A | N/A |
| VoxelNet | Lidar | 89.35 | 79.26 | 77.39 | 66.07 | 54.76 | 50.55 | 46.13 | 40.74 | 38.11 |
| PointPillars | Lidar | 90.12 | 86.67 | 84.53 | 80.89 | 61.54 | 58.63 | 73.08 | 68.20 | 63.20 |
| PVFE | Lidar | 89.98 | 87.03 | 79.31 | 84.30 | 64.72 | 58.42 | 61.93 | 54.88 | 51.93 |
| SECOND | Lidar | 89.23 | 86.25 | 78.95 | 82.88 | 63.46 | 57.63 | 60.81 | 53.67 | 51.10 |
| 3D-GIoU | Lidar | 90.16 | 87.92 | 86.55 | 85.35 | 66.91 | 65.06 | 70.16 | 62.57 | 55.52 |