3D Object Detection on (EGO+AUX1) 128-beam LiDAR (test)
52mAP@0.5ALF
Evaluation results
| Method | Links | ||
|---|---|---|---|
| ALFFusion Method=ParCon, AUX1=PP6, AUX2=SD22026.05 | 52 | 35.7 | |
| ALFFusion Method=ParCon, AUX1=PP8, AUX2=SD22026.05 | 52 | 35.7 | |
| ALFFusion Method=ParCon, AUX1=SD3, AUX2=SD22026.05 | 52 | 35.7 | |
| ALFFusion Method=ParCon, AUX1=PP6, AUX2=SD32026.05 | 51.6 | 35.5 | |
| ALFFusion Method=ParCon, AUX1=PP8, AUX2=SD32026.05 | 51.6 | 35.5 | |
| ALFFusion Method=ParCon, AUX1=SD2, AUX2=SD32026.05 | 51.6 | 35.5 | |
| ALFFusion Method=ParCon, AUX1=PP8, AUX2=PP62026.05 | 50.3 | 35.2 | |
| ALFFusion Method=ParCon, AUX1=SD2, AUX2=PP62026.05 | 50.3 | 35.2 | |
| ALFFusion Method=ParCon, AUX1=SD3, AUX2=PP62026.05 | 50.3 | 35.2 | |
| ALFFusion Method=ParCon, AUX1=PP6, AUX2=PP82026.05 | 50.1 | 34.7 | |
| ALFFusion Method=ParCon, AUX1=SD2, AUX2=PP82026.05 | 50.1 | 34.7 | |
| ALFFusion Method=ParCon, AUX1=SD3, AUX2=PP82026.05 | 50.1 | 34.7 | |
| ALFFusion Method=V2X-ViT, AUX1=PP6, AUX2=SD22026.05 | 49.8 | 33 | |
| ALFFusion Method=V2X-ViT, AUX1=PP8, AUX2=SD22026.05 | 49.8 | 33 | |
| ALFFusion Method=V2X-ViT, AUX1=SD3, AUX2=SD22026.05 | 49.8 | 33 | |
| ALFFusion Method=AttnFuse, AUX1=PP6, AUX2=SD22026.05 | 49.6 | 32.7 | |
| ALFFusion Method=AttnFuse, AUX1=PP8, AUX2=SD22026.05 | 49.6 | 32.7 | |
| ALFFusion Method=AttnFuse, AUX1=SD3, AUX2=SD22026.05 | 49.6 | 32.7 | |
| ALFFusion Method=V2X-ViT, AUX1=PP6, AUX2=SD32026.05 | 48.5 | 32.2 | |
| ALFFusion Method=V2X-ViT, AUX1=PP8, AUX2=SD32026.05 | 48.5 | 32.2 | |
| ALFFusion Method=V2X-ViT, AUX1=SD2, AUX2=SD32026.05 | 48.5 | 32.2 | |
| ALFFusion Method=V2X-ViT, AUX1=PP8, AUX2=PP62026.05 | 48.2 | 32.8 | |
| ALFFusion Method=V2X-ViT, AUX1=SD2, AUX2=PP62026.05 | 48.2 | 32.8 | |
| ALFFusion Method=V2X-ViT, AUX1=SD3, AUX2=PP62026.05 | 48.2 | 32.8 | |
| ALFFusion Method=AttnFuse, AUX1=PP6, AUX2=SD32026.05 | 47.9 | 31.6 | |
| ALFFusion Method=AttnFuse, AUX1=PP8, AUX2=PP62026.05 | 47.9 | 32.7 | |
| ALFFusion Method=AttnFuse, AUX1=PP8, AUX2=SD32026.05 | 47.9 | 31.6 | |
| ALFFusion Method=AttnFuse, AUX1=SD2, AUX2=PP62026.05 | 47.9 | 32.7 | |
| ALFFusion Method=AttnFuse, AUX1=SD2, AUX2=SD32026.05 | 47.9 | 31.6 | |
| ALFFusion Method=AttnFuse, AUX1=SD3, AUX2=PP62026.05 | 47.9 | 32.7 | |
| ALFFusion Method=V2X-ViT, AUX1=PP6, AUX2=PP82026.05 | 47.7 | 32.2 | |
| ALFFusion Method=V2X-ViT, AUX1=SD2, AUX2=PP82026.05 | 47.7 | 32.2 | |
| ALFFusion Method=V2X-ViT, AUX1=SD3, AUX2=PP82026.05 | 47.7 | 32.2 | |
| ALFFusion Method=CoBEVT, AUX1=PP6, AUX2=SD22026.05 | 47.5 | 27.5 | |
| ALFFusion Method=CoBEVT, AUX1=PP8, AUX2=SD22026.05 | 47.5 | 27.5 | |
| ALFFusion Method=CoBEVT, AUX1=SD3, AUX2=SD22026.05 | 47.5 | 27.5 | |
| ALFFusion Method=AttnFuse, AUX1=PP6, AUX2=PP82026.05 | 47.2 | 31.7 | |
| ALFFusion Method=AttnFuse, AUX1=SD2, AUX2=PP82026.05 | 47.2 | 31.7 | |
| ALFFusion Method=AttnFuse, AUX1=SD3, AUX2=PP82026.05 | 47.2 | 31.7 | |
| ALFFusion Method=CoBEVT, AUX1=PP6, AUX2=SD32026.05 | 46.1 | 26.8 | |
| ALFFusion Method=CoBEVT, AUX1=PP8, AUX2=SD32026.05 | 46.1 | 26.8 | |
| ALFFusion Method=CoBEVT, AUX1=SD2, AUX2=SD32026.05 | 46.1 | 26.8 | |
| ALFFusion Method=CoBEVT, AUX1=PP6, AUX2=PP82026.05 | 45.8 | 26.1 | |
| ALFFusion Method=CoBEVT, AUX1=SD2, AUX2=PP82026.05 | 45.8 | 26.1 | |
| ALFFusion Method=CoBEVT, AUX1=SD3, AUX2=PP82026.05 | 45.8 | 26.1 | |
| MPDAFusion Method=AttnFuse, AUX1=PP6, AUX2=PP82026.05 | 45.6 | 29.3 | |
| ALFFusion Method=CoBEVT, AUX1=PP8, AUX2=PP62026.05 | 45.2 | 26.6 | |
| ALFFusion Method=CoBEVT, AUX1=SD2, AUX2=PP62026.05 | 45.2 | 26.6 | |
| ALFFusion Method=CoBEVT, AUX1=SD3, AUX2=PP62026.05 | 45.2 | 26.6 | |
| GenCommFusion Method=AttnFuse, AUX1=PP6, AUX2=PP82026.05 | 43.8 | 27.3 | |
| CodeFillingFusion Method=AttnFuse, AUX1=PP6, AUX2=PP82026.05 | 43 | 27.6 | |
| E2EFusion Method=AttnFuse, AUX1=PP6, AUX2=PP82026.05 | 41 | 25.7 |