3D Object Detection on K-Radar (type+severity-open)
68.68BEV AP (Fog, Low Severity)DCDA
Evaluation results
| Method | Links | ||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| DCDATraining exposure=Normal and Fog-Light only2026.07 | 68.68 | 39.15 | 28.65 | 25.54 | 28.15 | 19.17 | 74.09 | 65.78 | 66.24 | 45.38 | 27.25 | 19.83 | 16.27 | 19.48 | 12.46 | 51.92 | 41.15 | 41.62 | — | — | |
| L4DRTraining exposure=Normal and Fog-Light only2026.07 | 64.41 | 41.03 | 31.49 | 21.43 | 21.88 | 22.36 | 72.16 | 64.55 | 69.12 | 43.75 | 23.41 | 23.53 | 11.72 | 13.74 | 10.88 | 49.59 | 37.25 | 42.44 | — | — | |
| V2X-RTraining exposure=Normal and Fog-Light only2026.07 | 62.89 | 38.46 | 32.79 | 20.99 | 22.96 | 23.83 | 71.37 | 64.78 | 64.91 | 44.21 | 23.5 | 22.11 | 11.87 | 18.36 | 15.91 | 44.88 | 38.85 | 40.46 | — | — | |
| InterFusionTraining exposure=Normal and Fog-Light only2026.07 | 58.09 | 40.52 | 30.21 | 20.73 | 16.29 | 17.85 | 70.03 | 64.62 | 66.97 | 39.64 | 24.36 | 18.75 | 11.16 | 14.49 | 15.89 | 39.89 | 40.15 | 37.44 | — | — | |
| RTNHTraining exposure=Normal and Fog-Light only2026.07 | 39.2 | 27.6 | 22.11 | 20.72 | 20.37 | 20.49 | 33.13 | 19.78 | 17.99 | 10.5 | 12.39 | 10.21 | 14.53 | 8.9 | 11.77 | 13.12 | 13.64 | 12.2 | — | — | |
| DCDATraining=Normal and Light weather only2026.07 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 44.7 | 27.24 | |
| InterFusionTraining=Normal and Light weather only2026.07 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 39.78 | 19.04 | |
| L4DRTraining=Normal and Light weather only2026.07 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 44.43 | 26.63 | |
| RTNHTraining=Normal and Light weather only2026.07 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 30.32 | 11.97 | |
| V2X-RTraining=Normal and Light weather only2026.07 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 39.53 | 15.38 |