16k on KITTI Pedestrian Hard val

Metric: AP (higher is better)

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#	Model↕	AP▼	Augmentations	Paper	Date↕	Code
1	PVCNN	56.78	No	Point-Voxel CNN for Efficient 3D Deep Learning	2019-07-08	Code
2	M3DeTR	56.49	No	M3DeTR: Multi-representation, Multi-scale, Mutua...	2021-04-24	Code
3	F-PointNet++ [Qi:2018fd]	53.59	No	Frustum PointNets for 3D Object Detection from R...	2017-11-22	Code
4	F-PointNet [Qi:2018fd]	49.28	No	Frustum PointNets for 3D Object Detection from R...	2017-11-22	Code

#1PVCNNSOTA
56.78
AP· 2019-07-08
Point-Voxel CNN for Efficient 3D Deep Learning Code
#2M3DeTR
56.49
AP· 2021-04-24
M3DeTR: Multi-representation, Multi-scale, Mutual-relation 3D Object Detection with Transformers Code
#3F-PointNet++ [Qi:2018fd]SOTA
53.59
AP· 2017-11-22
Frustum PointNets for 3D Object Detection from RGB-D Data Code
#4F-PointNet [Qi:2018fd]
49.28
AP· 2017-11-22
Frustum PointNets for 3D Object Detection from RGB-D Data Code