3D Object Detection on K-Radar (test)
82.1AP BEV (Normal)Weather-Conditioned Branch Routing
Evaluation results
| Method | Links | ||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Weather-Conditioned Branch RoutingModality=4DR+L, IoU=0.32026.04 | 82.1 | — | — | — | — | — | — | — | — | 81.2 | 76.8 | 77.3 | 92.5 | 88.2 | 89.9 | 87.8 | 82.3 | 77.8 | 88.5 | 86.6 | 67.9 | 61.4 | |
| 3D-LRF*Modality=4DR+L, IoU=0.32026.04 | 81.2 | — | — | — | — | — | — | — | — | 80 | 70.4 | 70.9 | 89 | 84.1 | 88.8 | 86.9 | 82.6 | 71.1 | 85.6 | 79.5 | 61.5 | 55.1 | |
| RTNH*Modality=L, IoU=0.32026.04 | 76.5 | — | — | — | — | — | — | — | — | 76.5 | 72.7 | 73.1 | 88.2 | 76.5 | 86.3 | 84.8 | 77.3 | 64.5 | 81.1 | 80.3 | 59.5 | 52.9 | |
| Weather-Conditioned Branch RoutingModality=4DR+L, IoU=0.52026.04 | 70.1 | — | — | — | — | — | — | — | — | 71.5 | 43.5 | 41.5 | 88.3 | 63.3 | 88.1 | 63.4 | 78 | 42.2 | 83 | 66.8 | 57.2 | 33.7 | |
| DCDA2026.07 | 68.39 | — | — | — | — | — | — | — | — | — | — | 49.92 | 81.76 | 65.7 | 88.81 | 41.91 | 67.15 | 41.81 | 77.07 | 35.09 | 35.94 | 26.29 | |
| L4DR2026.07 | 68.33 | — | — | — | — | — | — | — | — | — | — | 44.71 | 80.42 | 49.85 | 81.32 | 36.73 | 68.16 | 43.6 | 74.81 | 29.6 | 31.74 | 21.88 | |
| InterFusion2026.07 | 67.65 | — | — | — | — | — | — | — | — | — | — | 42.88 | 71.22 | 40.51 | 62.05 | 34.26 | 66.71 | 41.04 | 56.4 | 28.96 | 24.36 | 11.52 | |
| V2X-R2026.07 | 65.96 | — | — | — | — | — | — | — | — | — | — | 41.61 | 78.99 | 36.44 | 69.43 | 28.65 | 68 | 40.7 | 66.72 | 21.87 | 30.37 | 20.7 | |
| RTNH*Modality=L, IoU=0.52026.04 | 65.4 | — | — | — | — | — | — | — | — | 66.3 | 37.8 | 39.8 | 87.4 | 46.3 | 83.8 | 59.8 | 73.7 | 28.2 | 78.5 | 50.7 | 48.1 | 24.6 | |
| 3D-LRF*Modality=4DR+L, IoU=0.52026.04 | 64.7 | — | — | — | — | — | — | — | — | 64.1 | 30 | 31.2 | 78.7 | 40 | 77.8 | 32.3 | 71.4 | 28.5 | 78.5 | 52.8 | 45.7 | 24.5 | |
| InterFusionModality=4DR+L, IoU=0.32026.04 | 57.2 | — | — | — | — | — | — | — | — | 57.5 | 53 | 51.1 | 60.8 | 58.1 | 81.2 | 80.9 | 52.8 | 40.4 | 72.6 | 71 | 57.2 | 55.2 | |
| PointPillarsModality=L, IoU=0.32026.04 | 51.6 | — | — | — | — | — | — | — | — | 51.9 | 47.3 | 46.7 | 53.5 | 51.9 | 45.4 | 44.8 | 44.7 | 42.4 | 81.2 | 59.2 | 55.2 | 55.2 | |
| InterFusionModality=4DR+L, IoU=0.52026.04 | 50 | — | — | — | — | — | — | — | — | 52.9 | 17.5 | 15.3 | 59 | 20.5 | 80.3 | 47.6 | 50 | 12.9 | 72.2 | 56.8 | 53.3 | 25.7 | |
| PointPillarsModality=L, IoU=0.52026.04 | 48.2 | — | — | — | — | — | — | — | — | 49.1 | 22.4 | 21.8 | 53 | 28 | 45.4 | 28.2 | 44.2 | 27.2 | 74.5 | 23.2 | 53.8 | 12.9 | |
| RTNHModality=4DR, IoU=0.32026.04 | 41 | — | — | — | — | — | — | — | — | 41.1 | 37.4 | 37.6 | 44.6 | 42 | 45.4 | 41.2 | 32.9 | 29.2 | 81.5 | 63.9 | 56.3 | 43.1 | |
| RTNHModality=4DR, IoU=0.52026.04 | 35.8 | — | — | — | — | — | — | — | — | 36 | 14.1 | 19.7 | 41.9 | 20.5 | 44.8 | 15.9 | 30.2 | 13 | 63.9 | 21 | 55.1 | 6.36 | |
| RTNH2026.07 | 35.64 | — | — | — | — | — | — | — | — | — | — | 21.69 | 64.96 | 28.57 | 72.43 | 10.36 | 38.5 | 20.98 | 61.93 | 9.79 | 31.63 | 11.12 | |
| SpikingRTNH2026.07 | 30.48 | — | — | — | — | — | — | — | — | — | — | 11.5 | 56.25 | 29.96 | 66.72 | 23.4 | 32.75 | 19.03 | 47.66 | 8.07 | 31.27 | 19.23 | |
| CasAModality=Lidar2026.02 | — | 50.9 | 82.2 | 65.6 | 44.4 | 53.7 | 49.9 | 62.7 | 36.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DPFTModality=Camera+Radar2026.02 | — | 56.1 | 55.7 | 59.4 | 63.1 | 49 | 51.6 | 50.5 | 50.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| EchoFusionModality=Camera+Radar2026.02 | — | 47.4 | 51.5 | 65.4 | 55 | 43.2 | 14.2 | 53.4 | 40.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MixedFusionModality=Camera+Lidar2026.02 | — | 55.1 | 84.5 | 76.6 | 53.3 | 55.3 | 49.6 | 68.7 | 44.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RADE-NetModality=Radar2026.02 | — | 64.1 | 60.7 | 72 | 85.4 | 55.4 | 63.6 | 68.6 | 67.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RTNHModality=Radar2026.02 | — | 47.4 | 49.9 | 56.7 | 52.8 | 42 | 41.5 | 50.6 | 44.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RTNH+Modality=Radar2026.02 | — | 57.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| TED-MModality=Camera+Lidar2026.02 | — | 52.3 | 77.2 | 69.7 | 47.4 | 54.3 | 45.2 | 64.3 | 36.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| TED-SModality=Lidar2026.02 | — | 51 | 74.3 | 68.8 | 45.7 | 53.6 | 44.8 | 63.4 | 36.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Voxel-RCNNModality=Lidar2026.02 | — | 46.4 | 81.8 | 69.6 | 48.8 | 47.1 | 46.9 | 54.8 | 37.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| VPFNetModality=Camera+Lidar2026.02 | — | 52.2 | 81.2 | 76.3 | 46.3 | 53.7 | 44.9 | 63.1 | 36.9 | — | — | — | — | — | — | — | — | — | — | — | — | — |