ResearchBenchmarks3D Object Detection on DAIR-V2X-I 0-200m (val)3D Object Detection on DAIR-V2X-I 0-200m (val)Follow82.84Vehicle AP3D (IoU=0.5, Easy)BEVSpread81.571281.900682.2382.5594Jun 13, 2024Evaluation resultsMethodMethodLinksVehicle AP3D (IoU=0.5, Easy)Vehicle AP3D (IoU=0.5, Middle)Vehicle AP3D (IoU=0.5, Hard)Pedestrian AP3D (IoU=0.25, Easy)Pedestrian AP3D (IoU=0.25, Middle)Pedestrian AP3D (IoU=0.25, Hard)Cyclist AP3D (IoU=0.25, Easy)Cyclist AP3D (IoU=0.25, Middle)Cyclist AP3D (IoU=0.25, Hard)BEVSpreadModality=Camera, Venue...Modality=Camera, Venue=-, Image encoder=ResNet-101, BEV grid size=0.4 meters, top-k=62024.0682.8477.177.1943.9642.0342.1362.3164.4464.89BEVHeightModality=Camera, Venue...Modality=Camera, Venue=CVPR 232024.0681.6275.975.9440.8938.9839.1860.2960.661.13