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