Papers › Cross-Modality Knowledge Distillation Network for Monocular 3D Object Detection
Cross-Modality Knowledge Distillation Network for Monocular 3D Object Detection
Yu Hong, Hang Dai, Yong Ding
Leveraging LiDAR-based detectors or real LiDAR point data to guide monocular 3D detection has brought significant improvement, e.g., Pseudo-LiDAR methods. However, the existing methods usually apply non-end-to-end training strategies and insufficiently leverage the LiDAR information, where the rich potential of the LiDAR data has not been well exploited. In this paper, we propose the Cross-Modality Knowledge Distillation (CMKD) network for monocular 3D detection to efficiently and directly transfer the knowledge from LiDAR modality to image modality on both features and responses. Moreover, we further extend CMKD as a semi-supervised training framework by distilling knowledge from large-scale unlabeled data and significantly boost the performance. Until submission, CMKD ranks 1ˢᵗ among the monocular 3D detectors with publications on both KITTI test set and Waymo val set with significant performance gains compared to previous state-of-the-art methods.
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Code
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Tasks
Results from the paper archive 2025-07-28
| Task | Dataset | Model | Metric | Value | Rank at snapshot | Leaderboard | Report |
|---|---|---|---|---|---|---|---|
| Monocular 3D Object Detection | KITTI Cars Easy | CMKD | AP Easy | 28.55 | #2 of 5 | Archive leaderboard | report |
| Monocular 3D Object Detection | KITTI Cars Hard | CMKD | AP Hard | 16.77 | #2 of 7 | Archive leaderboard | report |
| Monocular 3D Object Detection | KITTI Cyclist Easy | CMKD | AP Easy | 12.52 | #1 of 2 | Archive leaderboard | report |
| Monocular 3D Object Detection | KITTI Cyclist Hard | CMKD | AP Hard | 6.34 | #1 of 2 | Archive leaderboard | report |
| Monocular 3D Object Detection | KITTI Cyclist Moderate | CMKD | AP Medium | 6.67 | #1 of 2 | Archive leaderboard | report |
| Monocular 3D Object Detection | KITTI Pedestrian Easy | CMKD | AP Easy | 13.94 | #1 of 3 | Archive leaderboard | report |
| Monocular 3D Object Detection | KITTI Pedestrian Hard | CMKD | AP Hard | 7.42 | #2 of 4 | Archive leaderboard | report |
| Monocular 3D Object Detection | KITTI Pedestrian Moderate | CMKD | AP Medium | 8.79 | #2 of 3 | Archive leaderboard | report |
Ranks are positions in the archive's leaderboards as they stood at the 2025-07-28 snapshot. Results published since then are not among these rows, so a rank here is not a current standing.
Methods
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