Is Pseudo-Lidar needed for Monocular 3D Object detection?

Benchmark Model Rank Results
monocular-3d-object-detection-on-kitti-1DD3D#1AP Hard: 8.05
monocular-3d-object-detection-on-kitti-3DD3D#2AP Easy: 13.91
monocular-3d-object-detection-on-kitti-4DD3D#1AP Medium: 9.30
monocular-3d-object-detection-on-kitti-carsDD3D#6AP Medium: 16.34
monocular-3d-object-detection-on-kitti-cars-1DD3D#3AP Hard: 14.20
monocular-3d-object-detection-on-kitti-cars-2DD3D#3AP Easy: 23.22