Table 3.

3D and BEV detection performance: AP (%) on the KITTI valuation set.

Method	Method	Car			Cyclist			Pedestrian
		Easy	Mod.	Hard	Easy	Mod.	Hard	Easy	Mod.	Hard
3D	SECOND	85.99	75.51	68.25	80.47	57.02	55.79	56.99	50.22	43.59
	Baseline 1	87.20	76.80	74.65	82.84	62.34	56.66	58.16	51.42	44.74
	Baseline 2	87.62	77.37	75.53	83.89	64.27	62.75	59.37	52.42	49.78
	3D-GIoU	87.83	77.91	75.55	83.32	64.69	63.51	67.23	59.58	52.69
BEV	SECOND	89.23	86.25	78.95	82.88	63.46	57.63	60.81	53.67	51.10
	Baseline 1	89.99	86.82	86.03	84.83	64.56	58.55	62.34	59.35	52.70
	Baseline 2	89.80	87.13	86.31	85.42	65.78	64.45	66.40	59.40	52.56
	3D-GIoU	90.16	87.92	86.55	85.35	66.91	65.06	70.16	62.57	55.52