2D Object Detection on SUN-RGBD val

Metric: mAP@0.5 (higher is better)

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#	Model↕	mAP@0.5▼	Augmentations	Paper	Date↕	Code
1	Point-GCC+TR3D+FF	54	No	Point-GCC: Universal Self-supervised 3D Scene Pr...	2023-05-31	Code
2	TR3D+FF	53.4	No	TR3D: Towards Real-Time Indoor 3D Object Detection	2023-02-06	-
3	DEST (based on V-DETR) (TTA)	52.2	No	State Space Model Meets Transformer: A New Parad...	2025-03-18	Code
4	DeMF	51.2	No	Boosting 3D Object Detection via Object-Focused ...	2022-07-21	Code
5	V-DETR	51.1	No	V-DETR: DETR with Vertex Relative Position Encod...	2023-08-08	Code
6	Point-GCC+TR3D	51	No	Point-GCC: Universal Self-supervised 3D Scene Pr...	2023-05-31	Code
7	OctFormer	50.6	No	OctFormer: Octree-based Transformers for 3D Poin...	2023-05-04	Code
8	TR3D (Geo only)	50.4	No	TR3D: Towards Real-Time Indoor 3D Object Detection	2023-02-06	-
9	CAGroup3D(Geo only)	50.2	No	CAGroup3D: Class-Aware Grouping for 3D Object De...	2022-10-09	Code
10	FCAF3D (Geo only)	48.9	No	FCAF3D: Fully Convolutional Anchor-Free 3D Objec...	2021-12-01	Code
11	DEST (based on GroupFree3D)	48.4	No	State Space Model Meets Transformer: A New Parad...	2025-03-18	Code
12	TokenFusion	48.3	No	Multimodal Token Fusion for Vision Transformers	2022-04-19	Code
13	RepSurf-U	47.7	No	Surface Representation for Point Clouds	2022-05-11	Code
14	RBGNet(Geo only)	47.2	No	RBGNet: Ray-based Grouping for 3D Object Detection	2022-04-05	Code
15	SPGroup3D(Geo only)	47.1	No	SPGroup3D: Superpoint Grouping Network for Indoo...	2023-12-21	Code
16	LCPFormer	46.2	No	LCPFormer: Towards Effective 3D Point Cloud Anal...	2022-10-23	Code
17	GroupFree3D(Geo only)	45.2	No	Group-Free 3D Object Detection via Transformers	2021-04-01	Code
18	BRNet(Geo only)	43.7	No	Back-tracing Representative Points for Voting-ba...	2021-04-13	Code
19	H3DNet	39	No	H3DNet: 3D Object Detection Using Hybrid Geometr...	2020-06-10	Code
20	VoteNet (Geo only)	35.8	No	Deep Hough Voting for 3D Object Detection in Poi...	2019-04-21	Code
21	VoteNet (PC-FractalDB)	35.2	Yes	-	-	Code
22	3DETR-m	32.7	No	An End-to-End Transformer Model for 3D Object De...	2021-09-16	Code

#1Point-GCC+TR3D+FFSOTA
54
mAP@0.5· 2023-05-31
Point-GCC: Universal Self-supervised 3D Scene Pre-training via Geometry-Color Contrast Code
#2TR3D+FFSOTA
53.4
mAP@0.5· 2023-02-06
TR3D: Towards Real-Time Indoor 3D Object Detection
#3DEST (based on V-DETR) (TTA)
52.2
mAP@0.5· 2025-03-18
State Space Model Meets Transformer: A New Paradigm for 3D Object Detection Code
#4DeMFSOTA
51.2
mAP@0.5· 2022-07-21
Boosting 3D Object Detection via Object-Focused Image Fusion Code
#5V-DETR
51.1
mAP@0.5· 2023-08-08
V-DETR: DETR with Vertex Relative Position Encoding for 3D Object Detection Code
#6Point-GCC+TR3D
51
mAP@0.5· 2023-05-31
Point-GCC: Universal Self-supervised 3D Scene Pre-training via Geometry-Color Contrast Code
#7OctFormer
50.6
mAP@0.5· 2023-05-04
OctFormer: Octree-based Transformers for 3D Point Clouds Code
#8TR3D (Geo only)
50.4
mAP@0.5· 2023-02-06
TR3D: Towards Real-Time Indoor 3D Object Detection
#9CAGroup3D(Geo only)
50.2
mAP@0.5· 2022-10-09
CAGroup3D: Class-Aware Grouping for 3D Object Detection on Point Clouds Code
#10FCAF3D (Geo only)SOTA
48.9
mAP@0.5· 2021-12-01
FCAF3D: Fully Convolutional Anchor-Free 3D Object Detection Code
#11DEST (based on GroupFree3D)
48.4
mAP@0.5· 2025-03-18
State Space Model Meets Transformer: A New Paradigm for 3D Object Detection Code
#12TokenFusion
48.3
mAP@0.5· 2022-04-19
Multimodal Token Fusion for Vision Transformers Code
#13RepSurf-U
47.7
mAP@0.5· 2022-05-11
Surface Representation for Point Clouds Code
#14RBGNet(Geo only)
47.2
mAP@0.5· 2022-04-05
RBGNet: Ray-based Grouping for 3D Object Detection Code
#15SPGroup3D(Geo only)
47.1
mAP@0.5· 2023-12-21
SPGroup3D: Superpoint Grouping Network for Indoor 3D Object Detection Code
#16LCPFormer
46.2
mAP@0.5· 2022-10-23
LCPFormer: Towards Effective 3D Point Cloud Analysis via Local Context Propagation in Transformers Code
#17GroupFree3D(Geo only)SOTA
45.2
mAP@0.5· 2021-04-01
Group-Free 3D Object Detection via Transformers Code
#18BRNet(Geo only)
43.7
mAP@0.5· 2021-04-13
Back-tracing Representative Points for Voting-based 3D Object Detection in Point Clouds Code
#19H3DNetSOTA
39
mAP@0.5· 2020-06-10
H3DNet: 3D Object Detection Using Hybrid Geometric Primitives Code
#20VoteNet (Geo only)SOTA
35.8
mAP@0.5· 2019-04-21
Deep Hough Voting for 3D Object Detection in Point Clouds Code
#21VoteNet (PC-FractalDB)
35.2
mAP@0.5· Augmentations
No paperCode
#223DETR-m
32.7
mAP@0.5· 2021-09-16
An End-to-End Transformer Model for 3D Object Detection Code