Table 1. Performance comparison on the car category in the Kitti official test set [16] – average precision of bird’s eye view (APBEV).
Methods | Type | APBEV (IoU=0.7) | AP3d (IoU=0.7) |
Easy | Moderate | Hard | Easy | Moderate | Hard |
GUPNet [5] | Mono | 0.303 | 0.212 | 0.182 | 0.201 | 0.142 | 0.118 |
MonoCon [6] | Mono | 0.311 | 0.221 | 0.190 | 0.225 | 0.165 | 0.140 |
Stereo R-CNN [7] | Stereo | 0.619 | 0.413 | 0.334 | 0.476 | 0.302 | 0.237 |
Disp R-CNN [8] | Stereo | 0.738 | 0.523 | 0.436 | 0.585 | 0.379 | 0.319 |
CaDDN [11] | Mono & LiDAR | 0.279 | 0.189 | 0.172 | 0.192 | 0.134 | 0.115 |
DSGN [12] | Stereo & LiDAR | 0.829 | 0.651 | 0.566 | 0.735 | 0.522 | 0.451 |