| 3d-object-detection-on-kitti-cars-easy | STD | – | AP: 86.61% |
| 3d-object-detection-on-kitti-cars-hard | STD | – | AP: 76.06% |
| 3d-object-detection-on-kitti-cyclists-easy | STD | – | AP: 78.89% |
| 3d-object-detection-on-kitti-cyclists-hard | STD | – | AP: 55.77% |
| 3d-object-detection-on-kitti-cyclists-moderate | STD | – | AP: 62.53% |
| 3d-object-detection-on-kitti-pedestrians-easy | STD | – | AP: 53.08% |
| 3d-object-detection-on-kitti-pedestrians-hard | STD | – | AP: 41.97% |
| 3d-object-detection-on-kitti-pedestrians-moderate | STD | – | AP: 44.24% |
| birds-eye-view-object-detection-on-kitti-cars-easy | STD | – | AP: 89.66 |
| birds-eye-view-object-detection-on-kitti-cars-hard | STD | – | AP: 86.89 |
| birds-eye-view-object-detection-on-kitti-cars-moderate | STD | – | AP: 87.76% |
| birds-eye-view-object-detection-on-kitti-cyclists-moderate | STD | – | AP: 65.32% |
| birds-eye-view-object-detection-on-kitti-pedestrians-moderate | STD | – | AP: 51.39% |