3D Object Detection on DAIR-V2X (val)
81.78AP@30 (R40)UECP
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| UECP2026.06 | 81.78 | — | — | — | — | — | — | 77.59 | 61.12 | |
| CodeFilling2026.06 | 79.85 | — | — | — | — | — | — | 75.18 | 57.26 | |
| HEAL2026.06 | 79.11 | — | — | — | — | — | — | 73.95 | 55.56 | |
| V2X-VIT2026.06 | 77.28 | — | — | — | — | — | — | 72.47 | 57.97 | |
| Who2comm2026.06 | 77.08 | — | — | — | — | — | — | 71.22 | 52.17 | |
| Fcooper2026.06 | 76.94 | — | — | — | — | — | — | 70.57 | 54.65 | |
| CoBEVT2026.06 | 75.67 | — | — | — | — | — | — | 69.34 | 49.77 | |
| Where2comm2026.06 | 74.92 | — | — | — | — | — | — | 67.9 | 48.86 | |
| Attn2026.06 | 69.83 | — | — | — | — | — | — | 64.06 | 48.98 | |
| V2VNet2026.06 | 69.25 | — | — | — | — | — | — | 65.52 | 47.84 | |
| CoAlign w/ M2SInput=single-agent, M2S=true2026.07 | 62.77 | — | — | — | — | — | — | 53.14 | 38.75 | |
| CoAlignInput=single-agent, M2S=false2026.07 | 61.26 | — | — | — | — | — | — | 51.26 | 37.86 | |
| AttFuse w/ M2SInput=single-agent, M2S=true2026.07 | 61.02 | — | — | — | — | — | — | 52.16 | 39.86 | |
| Where2comm w/ M2SInput=single-agent, M2S=true2026.07 | 60.84 | — | — | — | — | — | — | 52.24 | 39.84 | |
| V2X-ViTInput=single-agent, M2S=false2026.07 | 60.71 | — | — | — | — | — | — | 51.06 | 35.08 | |
| V2X-ViT w/ M2SInput=single-agent, M2S=true2026.07 | 60.65 | — | — | — | — | — | — | 52.77 | 39.77 | |
| PillarNeSt w/ M2SInput=single-agent, M2S=true2026.07 | 60.36 | — | — | — | — | — | — | 51.85 | 38.17 | |
| CoSDH w/ M2SInput=single-agent, M2S=true2026.07 | 60.19 | — | — | — | — | — | — | 51.67 | 37.33 | |
| No Coll2026.06 | 59.97 | — | — | — | — | — | — | 54.23 | 41.27 | |
| Where2commInput=single-agent, M2S=false2026.07 | 59.42 | — | — | — | — | — | — | 51.1 | 38.54 | |
| AttFuseInput=single-agent, M2S=false2026.07 | 58.97 | — | — | — | — | — | — | 49.7 | 33.25 | |
| CoSDHInput=single-agent, M2S=false2026.07 | 57.5 | — | — | — | — | — | — | 48.57 | 34.37 | |
| PillarNeStInput=single-agent, M2S=false2026.07 | 57.3 | — | — | — | — | — | — | 48.9 | 33.46 | |
| CBRCalib. Noise (deg)=calibration-free2023.03 | — | 24.7 | 15.7 | 14.7 | 1.3 | 0.8 | 0.8 | — | — | |
| ImVoxelNetCalib. Noise (deg)=/2023.03 | — | 47.6 | 29.2 | 27.1 | 27.1 | 16.2 | 14.8 | — | — | |
| ImVoxelNetCalib. Noise (deg)=0.12023.03 | — | 44.5 | 26.5 | 26.2 | 24.2 | 13.9 | 12.5 | — | — | |
| ImVoxelNetCalib. Noise (deg)=0.22023.03 | — | 38.6 | 23.1 | 22.6 | 21 | 11.5 | 11.2 | — | — | |
| ImVoxelNetCalib. Noise (deg)=0.52023.03 | — | 29.3 | 16.9 | 15.4 | 12.9 | 6.8 | 6.5 | — | — | |
| ImVoxelNetCalib. Noise (deg)=1.02023.03 | — | 19.7 | 11.4 | 10.2 | 5 | 2.4 | 2.4 | — | — | |
| ImVoxelNetCalib. Noise (deg)=2.02023.03 | — | 8.2 | 4.4 | 4.3 | 1 | 0.5 | 0.5 | — | — | |
| ImVoxelNetCalib. Noise (deg)=5.02023.03 | — | 0.6 | 0.3 | 0.3 | 0 | 0 | 0 | — | — | |
| PYVA-detCalib. Noise (deg)=calibration-free2023.03 | — | 12.6 | 7.3 | 7.1 | 0.9 | 0.6 | 0.5 | — | — |