3D Object Detection on ScanNetV2

Metric: mAP@0.5 (higher is better)

LeaderboardDataset

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Results

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#	Model↕	mAP@0.5▼	Extra Data	Paper	Date↕	Code
1	DEST (based on V-DETR) (TTA)	67.9	No	State Space Model Meets Transformer: A New Parad...	2025-03-18	Code
2	UniDet3D	66.1	No	UniDet3D: Multi-dataset Indoor 3D Object Detection	2024-09-06	Code
3	V-DETR	65.9	No	V-DETR: DETR with Vertex Relative Position Encod...	2023-08-08	Code
4	UDeerMvDETR	65.8	No	MV-DETR: Multi-modality indoor object detection ...	2024-08-13	-
5	OneFormer3D	65.3	No	OneFormer3D: One Transformer for Unified Point C...	2023-11-24	Code
6	BFL	65.3	No	-	-	-
7	Swin3D-L+CAGroup3D	63.2	Yes	Swin3D: A Pretrained Transformer Backbone for 3D...	2023-04-14	Code
8	QueryFormer	61.7	No	-	-	-
9	CAGroup3D	61.3	No	CAGroup3D: Class-Aware Grouping for 3D Object De...	2022-10-09	Code
10	PBNet	60.1	No	Divide and Conquer: 3D Point Cloud Instance Segm...	2022-07-22	Code
11	SPGroup3D	59.6	No	SPGroup3D: Superpoint Grouping Network for Indoo...	2023-12-21	Code
12	Point-GCC+TR3D	59.6	No	Point-GCC: Universal Self-supervised 3D Scene Pr...	2023-05-31	Code
13	SoftGroup	59.4	No	SoftGroup for 3D Instance Segmentation on Point ...	2022-03-03	Code
14	TR3D	59.3	No	TR3D: Towards Real-Time Indoor 3D Object Detection	2023-02-06	-
15	DEST (based on GroupFree3D)	58.1	No	State Space Model Meets Transformer: A New Parad...	2025-03-18	Code
16	FCAF3D	57.3	No	FCAF3D: Fully Convolutional Anchor-Free 3D Objec...	2021-12-01	Code
17	RBGNet	55.2	No	RBGNet: Ray-based Grouping for 3D Object Detection	2022-04-05	Code
18	RepSurf-U	54.8	No	Surface Representation for Point Clouds	2022-05-11	Code
19	TokenFusion	54.2	No	Multimodal Token Fusion for Vision Transformers	2022-04-19	Code
20	GroupFree3D	52.8	No	Group-Free 3D Object Detection via Transformers	2021-04-01	Code
21	BRNet	50.9	No	Back-tracing Representative Points for Voting-ba...	2021-04-13	Code
22	3D-MPA	49.2	No	3D-MPA: Multi Proposal Aggregation for 3D Semant...	2020-03-30	Code
23	H3DNet	48.1	No	H3DNet: 3D Object Detection Using Hybrid Geometr...	2020-06-10	Code
24	3DETR-m	47	No	An End-to-End Transformer Model for 3D Object De...	2021-09-16	Code
25	VoteNet (PC-FractalDB)	39.9	Yes	-	-	Code
26	GSDN	34.8	No	Generative Sparse Detection Networks for 3D Sing...	2020-06-22	Code
27	HGNet	34.4	No	-	-	-
28	VoteNet	33.5	No	Deep Hough Voting for 3D Object Detection in Poi...	2019-04-21	Code
29	ImGeoNet (RGB only)	28.4	No	ImGeoNet: Image-induced Geometry-aware Voxel Rep...	2023-08-17	Code
30	ImVoxelNet (RGB only)	22.7	No	ImVoxelNet: Image to Voxels Projection for Monoc...	2021-06-02	Code
31	3D-SIS	22.5	No	3D-SIS: 3D Semantic Instance Segmentation of RGB...	2018-12-17	Code
32	GSPN	17.7	No	GSPN: Generative Shape Proposal Network for 3D I...	2018-12-08	Code