# 2D Object Detection on OPV2V Air

Source: [2D Object Detection on OPV2V Air](<https://www.sota2.com/research/sota/2d-object-detection-on-opv2v-air>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-03-17T08:56:28.467Z

Evaluation of 2D Object Detection performance on the OPV2V Air dataset, reporting metrics such as 2D AP.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | 2D Object Detection |
| Dataset (including any stated split) | OPV2V Air |
| Metric | AP (IoU=0.7) |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 7 of 7 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [AP (IoU=0.7)](<https://www.sota2.com/research/sota/2d-object-detection-on-opv2v-air.md?metric=AP%20(IoU%3D0.7)>): Higher is better; unit: PERCENT.

## Recorded results

| Method | AP (IoU=0.7) | Result date | Report paper |
| --- | --- | --- | --- |
| OpenCOOD-Air | 71 | Not recorded | 69b8dff40636e5bf4afbe8e9 |
| HEAL | 67 | Not recorded | 69b8dff40636e5bf4afbe8e9 |
| V2VNet | 66 | Not recorded | 69b8dff40636e5bf4afbe8e9 |
| Where2comm | 41 | Not recorded | 69b8dff40636e5bf4afbe8e9 |
| Ours (Vehicles) | 39 | Not recorded | 69b8dff40636e5bf4afbe8e9 |
| CoBEVT | 33 | Not recorded | 69b8dff40636e5bf4afbe8e9 |
| V2X-ViT | 15 | Not recorded | 69b8dff40636e5bf4afbe8e9 |

### OpenCOOD-Air

AP (IoU=0.7): 71. Result ID: 69b9172f47f34ce924a1ccbe.

[Reporting paper](<https://www.sota2.com/research/paper/69b8dff40636e5bf4afbe8e9.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69b8dff40636e5bf4afbe8e9.md>)

Recorded evaluation configuration: {"Params (M)":"20.33"}. This record does not assert independent reproduction.

### HEAL

AP (IoU=0.7): 67. Result ID: 69b9172f47f34ce924a1ccbd.

[Reporting paper](<https://www.sota2.com/research/paper/69b8dff40636e5bf4afbe8e9.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa72b91e209131cea5826d.md>)

Recorded evaluation configuration: {"Params (M)":"15.02"}. This record does not assert independent reproduction.

### V2VNet

AP (IoU=0.7): 66. Result ID: 69b9172f47f34ce924a1ccbc.

[Reporting paper](<https://www.sota2.com/research/paper/69b8dff40636e5bf4afbe8e9.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa68281e209131cea1a5bb.md>)

Recorded evaluation configuration: {"Params (M)":"37.69"}. This record does not assert independent reproduction.

### Where2comm

AP (IoU=0.7): 41. Result ID: 69b9172f47f34ce924a1ccbb.

[Reporting paper](<https://www.sota2.com/research/paper/69b8dff40636e5bf4afbe8e9.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d891e209131cea3a729.md>)

[Implementation](<https://github.com/MediaBrain-SJTU/where2comm>)

Recorded evaluation configuration: {"Params (M)":"31.53"}. This record does not assert independent reproduction.

### Ours (Vehicles)

AP (IoU=0.7): 39. Result ID: 69b9172f47f34ce924a1ccb8.

[Reporting paper](<https://www.sota2.com/research/paper/69b8dff40636e5bf4afbe8e9.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69b8dff40636e5bf4afbe8e9.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### CoBEVT

AP (IoU=0.7): 33. Result ID: 69b9172f47f34ce924a1ccba.

[Reporting paper](<https://www.sota2.com/research/paper/69b8dff40636e5bf4afbe8e9.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d851e209131cea3a5ee.md>)

Recorded evaluation configuration: {"Params (M)":"33.61"}. This record does not assert independent reproduction.

### V2X-ViT

AP (IoU=0.7): 15. Result ID: 69b9172f47f34ce924a1ccb9.

[Reporting paper](<https://www.sota2.com/research/paper/69b8dff40636e5bf4afbe8e9.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d351e209131cea386f5.md>)

[Implementation](<https://github.com/DerrickXuNu/v2x-vit>)

Recorded evaluation configuration: {"Params (M)":"36.53"}. This record does not assert independent reproduction.

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