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Datasets › ApolloCar3D

ApolloCar3D

Introduced by Xibin Song et al. in ApolloCar3D: A Large 3D Car Instance Understanding Benchmark for Autonomous Driving archive 2025-07-28

ApolloCar3DT is a dataset that contains 5,277 driving images and over 60K car instances, where each car is fitted with an industry-grade 3D CAD model with absolute model size and semantically labelled keypoints. This dataset is above 20 times larger than PASCAL3D+ and KITTI, the current state-of-the-art.

Source: ApolloCar3D: A Large 3D Car Instance Understanding Benchmark for Autonomous Driving Image Source: http://apolloscape.auto/car_instance.html

HomepageBenchmarksPapers JSON

Benchmarks archive 2025-07-28

All 14 leaderboards whose dataset resolves to this page shown (sort by any header). "First row" is the archive's own first row at snapshot, in the archive's row order; nothing here re-ranks and metric direction is not asserted.

First row (archive order)PaperCode
Car Pose Estimation ApolloCar3D Zauss et al. Detection Rate 91.9 Keypoint Communities duncanzauss/keypoint_communities 3 Compare
3D Car Instance Understanding ApolloCar3D BAAM A3DP 22.85 BAAM: Monocular 3D Pose and Shape Reconstruction With... gywns6287/baam 2 Compare
Autonomous Vehicles ApolloCar3D BAAM A3DP 22.85 BAAM: Monocular 3D Pose and Shape Reconstruction With... gywns6287/baam 2 Compare
3D Pose Estimation ApolloCar3D GSNet A3DP 20.21 GSNet: Joint Vehicle Pose and Shape Reconstruction with... lkeab/gsnet 1 Compare
3D Reconstruction ApolloCar3D GSNet A3DP 20.21 GSNet: Joint Vehicle Pose and Shape Reconstruction with... lkeab/gsnet 1 Compare
3D Shape Reconstruction From A Single 2D Image ApolloCar3D GSNet A3DP 20.21 GSNet: Joint Vehicle Pose and Shape Reconstruction with... lkeab/gsnet 1 Compare
3D Shape Reconstruction ApolloCar3D GSNet A3DP 20.21 GSNet: Joint Vehicle Pose and Shape Reconstruction with... lkeab/gsnet 1 Compare
6D Pose Estimation ApolloCar3D GSNet A3DP 20.21 GSNet: Joint Vehicle Pose and Shape Reconstruction with... lkeab/gsnet 1 Compare
6D Pose Estimation using RGB ApolloCar3D GSNet A3DP 20.21 GSNet: Joint Vehicle Pose and Shape Reconstruction with... lkeab/gsnet 1 Compare
Autonomous Driving ApolloCar3D GSNet A3DP 20.21 GSNet: Joint Vehicle Pose and Shape Reconstruction with... lkeab/gsnet 1 Compare
Keypoint Detection ApolloCar3D GSNet A3DP 20.21 GSNet: Joint Vehicle Pose and Shape Reconstruction with... lkeab/gsnet 1 Compare
Pose Estimation ApolloCar3D GSNet A3DP 20.21 GSNet: Joint Vehicle Pose and Shape Reconstruction with... lkeab/gsnet 1 Compare
Vehicle Key-Point and Orientation Estimation ApolloCar3D GSNet A3DP 20.21 GSNet: Joint Vehicle Pose and Shape Reconstruction with... lkeab/gsnet 1 Compare
Vehicle Pose Estimation ApolloCar3D GSNet A3DP 20.21 GSNet: Joint Vehicle Pose and Shape Reconstruction with... lkeab/gsnet 1 Compare

Papers archive 2025-07-28

5 shown of 5 papers with a leaderboard row on this dataset's benchmarks, newest first. The archive's own "papers using this dataset" list was never published, so this is the benchmark-backed subset; the archive's count for this dataset is 17. The Syntology column is from Syntology's graph (read 2026-09-24), stated per sample; it is not part of any archive number.

DateSamples run Syntology
BAAM: Monocular 3D Pose and Shape Reconstruction With Bi-Contextual Attention Module and Attention-Guided Modeling 1 2 1 Jan 2023 not harvested
Keypoint Communities 1 1 3 Oct 2021 not harvested
OpenPifPaf: Composite Fields for Semantic Keypoint Detection and Spatio-Temporal Association 6 1 3 Mar 2021 not harvested
GSNet: Joint Vehicle Pose and Shape Reconstruction with Geometrical and Scene-aware Supervision 1 13 26 Jul 2020 not harvested
Convolutional Pose Machines 50 1 30 Jan 2016 ran 1 of 4 samples (3 unverified; 3 pointer-only for licence)

Dataset loaders archive 2025-07-28

arxiv.org/abs/1612.00496cersar/3D_detectiontf

1 loader as listed in the archive; links are outbound and not re-checked here.

Tasks archive 2025-07-28

Pose EstimationAutonomous Vehicles3D ReconstructionAutonomous DrivingKeypoint Detection6D Pose Estimation3D Pose Estimation6D Pose Estimation using RGB3D Shape ReconstructionVehicle Pose Estimation3D Shape Reconstruction From A Single 2D Image3D Car Instance UnderstandingVehicle Key-Point and Orientation EstimationCar Pose Estimation

License archive 2025-07-28

Custom (non-commercial)

Modalities archive 2025-07-28

Images

Languages archive 2025-07-28

No language tagged.

Variants archive 2025-07-28

  • ApolloCar3D

1 variant name, as the archive lists them.

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