Object Detection on SUN-RGBD val

Metric: mAP@0.25 (higher is better)

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#	Model↕	mAP@0.25▼	Extra Data	Paper	Date↕	Code
1	Point-GCC+TR3D+FF	69.7	No	Point-GCC: Universal Self-supervised 3D Scene Pr...	2023-05-31	Code
2	TR3D+FF	69.4	No	TR3D: Towards Real-Time Indoor 3D Object Detection	2023-02-06	-
3	DEST (based on V-DETR) (TTA)	69.2	No	State Space Model Meets Transformer: A New Parad...	2025-03-18	Code
4	V-DETR	68	No	V-DETR: DETR with Vertex Relative Position Encod...	2023-08-08	Code
5	Point-GCC+TR3D	67.7	No	Point-GCC: Universal Self-supervised 3D Scene Pr...	2023-05-31	Code
6	DeMF	67.4	No	Boosting 3D Object Detection via Object-Focused ...	2022-07-21	Code
7	TR3D (Geo only)	67.1	No	TR3D: Towards Real-Time Indoor 3D Object Detection	2023-02-06	-
8	CAGroup3D(Geo only)	66.8	No	CAGroup3D: Class-Aware Grouping for 3D Object De...	2022-10-09	Code
9	OctFormer	66.2	No	OctFormer: Octree-based Transformers for 3D Poin...	2023-05-04	Code
10	SPGroup3D(Geo only)	65.4	No	SPGroup3D: Superpoint Grouping Network for Indoo...	2023-12-21	Code
11	DEST (based on GroupFree3D)	65.3	No	State Space Model Meets Transformer: A New Parad...	2025-03-18	Code
12	TokenFusion	64.9	No	Multimodal Token Fusion for Vision Transformers	2022-04-19	Code
13	RepSurf-U	64.9	No	Surface Representation for Point Clouds	2022-05-11	Code
14	FCAF3D (Geo only)	64.2	No	FCAF3D: Fully Convolutional Anchor-Free 3D Objec...	2021-12-01	Code
15	RBGNet(Geo only)	64.1	No	RBGNet: Ray-based Grouping for 3D Object Detection	2022-04-05	Code
16	LCPFormer	63.2	No	LCPFormer: Towards Effective 3D Point Cloud Anal...	2022-10-23	Code
17	GroupFree3D(Geo only)	63	No	Group-Free 3D Object Detection via Transformers	2021-04-01	Code
18	HGNet (Geo only)	61.6	No	-	-	-
19	BRNet(Geo only)	61.1	No	Back-tracing Representative Points for Voting-ba...	2021-04-13	Code
20	VoteNet (PC-FractalDB)	60.2	Yes	-	-	Code
21	H3DNet	60.1	No	H3DNet: 3D Object Detection Using Hybrid Geometr...	2020-06-10	Code
22	VoteNet (Geo only)	59.1	No	Deep Hough Voting for 3D Object Detection in Poi...	2019-04-21	Code
23	3DETR-m	59.1	No	An End-to-End Transformer Model for 3D Object De...	2021-09-16	Code
24	COG+surface+context	54.3	No	Clouds of Oriented Gradients for 3D Detection of...	2019-06-11	-
25	F-PointNet	54	No	Frustum PointNets for 3D Object Detection from R...	2017-11-22	Code
26	COG+surface	51	No	-	-	-
27	COG	47.6	No	-	-	-
28	2D-driven	45.1	No	-	-	-
29	Frustum VoxNet v2 (FPN + 3D ResNetFCN6 V2)	45	No	-	-	-
30	Frustum VoxNet (+3D ResNetFCN6)	37.7	No	Frustum VoxNet for 3D object detection from RGB-...	2019-10-12	-