3D Object Detection on MultiCorrupt nuScenes (val)
0.6789NDSSB-BEVFusion-CA
Evaluation results
| Method | Links | ||
|---|---|---|---|
| SB-BEVFusion-CAFusion Strategy=Cross-Attention, Corruption=Motion Blur, Severity=s12026.05 | 0.6789 | — | |
| SB-BEVFusion-MPFusion Strategy=Max-Pool, Corruption=Motion Blur, Severity=s12026.05 | 0.6769 | — | |
| BEVFusionCorruption=Motion Blur, Severity=s12026.05 | 0.6687 | — | |
| SB-BEVFusion-AvgFusion Strategy=Avg, Corruption=Motion Blur, Severity=s12026.05 | 0.6629 | — | |
| SB-BEVFusion-CAFusion Strategy=Cross-Attention, Corruption=Camera Fog, Severity=s12026.05 | 0.6542 | — | |
| SB-BEVFusion-MPFusion Strategy=Max-Pool, Corruption=Camera Fog, Severity=s12026.05 | 0.652 | — | |
| BEVFusionCorruption=Camera Fog, Severity=s12026.05 | 0.6476 | — | |
| SB-BEVFusion-AvgFusion Strategy=Avg, Corruption=Camera Fog, Severity=s12026.05 | 0.6464 | — | |
| SB-BEVFusion-CAFusion Strategy=Cross-Attention, Corruption=Beam Reducing, Severity=s12026.05 | 0.638 | — | |
| SB-BEVFusion-MPFusion Strategy=Max-Pool, Corruption=Beam Reducing, Severity=s12026.05 | 0.6365 | — | |
| UniBEVCorruption=Camera Fog, Severity=s12026.05 | 0.6363 | — | |
| SB-BEVFusion-MPFusion Strategy=Max-Pool, Corruption=Temporal Misalignment, Severity=s12026.05 | 0.6351 | — | |
| UniBEVCorruption=Motion Blur, Severity=s12026.05 | 0.6348 | — | |
| SB-BEVFusion-CAFusion Strategy=Cross-Attention, Corruption=Temporal Misalignment, Severity=s12026.05 | 0.6348 | — | |
| BEVFusionCorruption=Beam Reducing, Severity=s12026.05 | 0.6338 | — | |
| SB-BEVFusion-DFusion Strategy=Decay, Corruption=Motion Blur, Severity=s12026.05 | 0.6287 | — | |
| BEVFusionCorruption=Temporal Misalignment, Severity=s12026.05 | 0.6276 | — | |
| SB-BEVFusion-AvgFusion Strategy=Avg, Corruption=Temporal Misalignment, Severity=s12026.05 | 0.6254 | — | |
| SB-BEVFusion-AvgFusion Strategy=Avg, Corruption=Beam Reducing, Severity=s12026.05 | 0.6219 | — | |
| UniBEVCorruption=Beam Reducing, Severity=s12026.05 | 0.6181 | — | |
| UniBEVCorruption=Temporal Misalignment, Severity=s12026.05 | 0.6122 | — | |
| SB-BEVFusion-CAFusion Strategy=Cross-Attention, Corruption=Camera Fog, Severity=s22026.05 | 0.6072 | — | |
| SB-BEVFusion-DFusion Strategy=Decay, Corruption=Camera Fog, Severity=s12026.05 | 0.6064 | — | |
| SB-BEVFusion-CAFusion Strategy=Cross-Attention, Corruption=Motion Blur, Severity=s22026.05 | 0.606 | — | |
| SB-BEVFusion-MPFusion Strategy=Max-Pool, Corruption=Camera Fog, Severity=s22026.05 | 0.6043 | — | |
| SB-BEVFusion-MPFusion Strategy=Max-Pool, Corruption=Motion Blur, Severity=s22026.05 | 0.6033 | — | |
| SB-BEVFusion-AvgFusion Strategy=Avg, Corruption=Camera Fog, Severity=s22026.05 | 0.5999 | — | |
| BEVFusionCorruption=Camera Fog, Severity=s22026.05 | 0.5978 | — | |
| UniBEVCorruption=Camera Fog, Severity=s22026.05 | 0.5931 | — | |
| SB-BEVFusion-DFusion Strategy=Decay, Corruption=Temporal Misalignment, Severity=s12026.05 | 0.592 | — | |
| SB-BEVFusion-AvgFusion Strategy=Avg, Corruption=Spatial Misalignment, Severity=s12026.05 | 0.5917 | — | |
| SB-BEVFusion-AvgFusion Strategy=Avg, Corruption=Motion Blur, Severity=s22026.05 | 0.5912 | — | |
| SB-BEVFusion-MPFusion Strategy=Max-Pool, Corruption=Spatial Misalignment, Severity=s12026.05 | 0.5896 | — | |
| BEVFusionCorruption=Motion Blur, Severity=s22026.05 | 0.5865 | — | |
| BEVFusionCorruption=Spatial Misalignment, Severity=s12026.05 | 0.5836 | — | |
| SB-BEVFusion-CAFusion Strategy=Cross-Attention, Corruption=Spatial Misalignment, Severity=s12026.05 | 0.582 | — | |
| UniBEVCorruption=Spatial Misalignment, Severity=s12026.05 | 0.5794 | — | |
| SB-BEVFusion-DFusion Strategy=Decay, Corruption=Beam Reducing, Severity=s12026.05 | 0.5764 | — | |
| SB-BEVFusion-DFusion Strategy=Decay, Corruption=Camera Fog, Severity=s22026.05 | 0.56 | — | |
| SB-BEVFusion-CAFusion Strategy=Cross-Attention, Corruption=Temporal Misalignment, Severity=s22026.05 | 0.548 | — | |
| SB-BEVFusion-MPFusion Strategy=Max-Pool, Corruption=Temporal Misalignment, Severity=s22026.05 | 0.548 | — | |
| SB-BEVFusion-DFusion Strategy=Decay, Corruption=Motion Blur, Severity=s22026.05 | 0.5447 | — | |
| SB-BEVFusion-AvgFusion Strategy=Avg, Corruption=Temporal Misalignment, Severity=s22026.05 | 0.5405 | — | |
| BEVFusionCorruption=Temporal Misalignment, Severity=s22026.05 | 0.5394 | — | |
| UniBEVCorruption=Motion Blur, Severity=s22026.05 | 0.5344 | — | |
| SB-BEVFusion-DFusion Strategy=Decay, Corruption=Spatial Misalignment, Severity=s12026.05 | 0.5293 | — | |
| UniBEVCorruption=Temporal Misalignment, Severity=s22026.05 | 0.5292 | — | |
| SB-BEVFusion-CAFusion Strategy=Cross-Attention, Corruption=Motion Blur, Severity=s32026.05 | 0.525 | — | |
| SB-BEVFusion-MPFusion Strategy=Max-Pool, Corruption=Motion Blur, Severity=s32026.05 | 0.5246 | — | |
| SB-BEVFusion-AvgFusion Strategy=Avg, Corruption=Motion Blur, Severity=s32026.05 | 0.5199 | — | |
| SB-BEVFusion-AvgFusion Strategy=Avg, Corruption=Spatial Misalignment, Severity=s22026.05 | 0.511 | — | |
| SB-BEVFusion-DFusion Strategy=Decay, Corruption=Temporal Misalignment, Severity=s22026.05 | 0.5091 | — | |
| UniBEVCorruption=Spatial Misalignment, Severity=s22026.05 | 0.5065 | — | |
| UniBEVCorruption=Beam Reducing, Severity=s22026.05 | 0.5061 | — | |
| SB-BEVFusion-MPFusion Strategy=Max-Pool, Corruption=Spatial Misalignment, Severity=s22026.05 | 0.5032 | — | |
| BEVFusionCorruption=Motion Blur, Severity=s32026.05 | 0.4991 | — | |
| SB-BEVFusion-MPFusion Strategy=Max-Pool, Corruption=Beam Reducing, Severity=s22026.05 | 0.4954 | — | |
| BEVFusionCorruption=Spatial Misalignment, Severity=s22026.05 | 0.4937 | — | |
| SB-BEVFusion-CAFusion Strategy=Cross-Attention, Corruption=Spatial Misalignment, Severity=s22026.05 | 0.4891 | — | |
| SB-BEVFusion-CAFusion Strategy=Cross-Attention, Corruption=Beam Reducing, Severity=s22026.05 | 0.484 | — | |
| SB-BEVFusion-AvgFusion Strategy=Avg, Corruption=Beam Reducing, Severity=s22026.05 | 0.4821 | — | |
| BEVFusionCorruption=Beam Reducing, Severity=s22026.05 | 0.4818 | — | |
| SB-BEVFusion-CAFusion Strategy=Cross-Attention, Corruption=Temporal Misalignment, Severity=s32026.05 | 0.4785 | — | |
| SB-BEVFusion-MPFusion Strategy=Max-Pool, Corruption=Temporal Misalignment, Severity=s32026.05 | 0.4768 | — | |
| SB-BEVFusion-AvgFusion Strategy=Avg, Corruption=Temporal Misalignment, Severity=s32026.05 | 0.4705 | — | |
| BEVFusionCorruption=Temporal Misalignment, Severity=s32026.05 | 0.4676 | — | |
| UniBEVCorruption=Temporal Misalignment, Severity=s32026.05 | 0.4646 | — | |
| SB-BEVFusion-DFusion Strategy=Decay, Corruption=Motion Blur, Severity=s32026.05 | 0.4634 | — | |
| UniBEVCorruption=Spatial Misalignment, Severity=s32026.05 | 0.4492 | — | |
| SB-BEVFusion-DFusion Strategy=Decay, Corruption=Temporal Misalignment, Severity=s32026.05 | 0.4456 | — | |
| UniBEVCorruption=Motion Blur, Severity=s32026.05 | 0.4427 | — | |
| SB-BEVFusion-AvgFusion Strategy=Avg, Corruption=Spatial Misalignment, Severity=s32026.05 | 0.4408 | — | |
| SB-BEVFusion-DFusion Strategy=Decay, Corruption=Spatial Misalignment, Severity=s22026.05 | 0.4368 | — | |
| SB-BEVFusion-MPFusion Strategy=Max-Pool, Corruption=Spatial Misalignment, Severity=s32026.05 | 0.4351 | — | |
| BEVFusionCorruption=Spatial Misalignment, Severity=s32026.05 | 0.4243 | — | |
| SB-BEVFusion-CAFusion Strategy=Cross-Attention, Corruption=Spatial Misalignment, Severity=s32026.05 | 0.4215 | — | |
| SB-BEVFusion-DFusion Strategy=Decay, Corruption=Beam Reducing, Severity=s22026.05 | 0.4213 | — | |
| UniBEVCorruption=Beam Reducing, Severity=s32026.05 | 0.3981 | — | |
| SB-BEVFusion-CAFusion Strategy=Cross-Attention, Corruption=Camera Fog, Severity=s32026.05 | 0.374 | — | |
| SB-BEVFusion-DFusion Strategy=Decay, Corruption=Spatial Misalignment, Severity=s32026.05 | 0.3682 | — | |
| UniBEVCorruption=Camera Fog, Severity=s32026.05 | 0.3648 | — | |
| SB-BEVFusion-MPFusion Strategy=Max-Pool, Corruption=Camera Fog, Severity=s32026.05 | 0.3615 | — | |
| SB-BEVFusion-AvgFusion Strategy=Avg, Corruption=Camera Fog, Severity=s32026.05 | 0.3565 | — | |
| SB-BEVFusion-DFusion Strategy=Decay, Corruption=Camera Fog, Severity=s32026.05 | 0.3466 | — | |
| BEVFusionCorruption=Camera Fog, Severity=s32026.05 | 0.3453 | — | |
| SB-BEVFusion-MPFusion Strategy=Max-Pool, Corruption=Beam Reducing, Severity=s32026.05 | 0.3303 | — | |
| SB-BEVFusion-AvgFusion Strategy=Avg, Corruption=Beam Reducing, Severity=s32026.05 | 0.3192 | — | |
| SB-BEVFusion-CAFusion Strategy=Cross-Attention, Corruption=Beam Reducing, Severity=s32026.05 | 0.3181 | — | |
| BEVFusionCorruption=Beam Reducing, Severity=s32026.05 | 0.3052 | — | |
| SB-BEVFusion-DFusion Strategy=Decay, Corruption=Beam Reducing, Severity=s32026.05 | 0.2774 | — | |
| BEVFusionAggregate=Mean Resistance Ability across all corruptions2026.05 | — | 0.749 | |
| SB-BEVFusion-AvgFusion Strategy=Avg, Aggregate=Mean Resistance Ability across all corruptions2026.05 | — | 0.7683 | |
| SB-BEVFusion-CAFusion Strategy=Cross-Attention, Aggregate=Mean Resistance Ability across all corruptions2026.05 | — | 0.7537 | |
| SB-BEVFusion-DFusion Strategy=Decay, Aggregate=Mean Resistance Ability across all corruptions2026.05 | — | 0.7313 | |
| SB-BEVFusion-MPFusion Strategy=Max-Pool, Aggregate=Mean Resistance Ability across all corruptions2026.05 | — | 0.7592 | |
| UniBEVAggregate=Mean Resistance Ability across all corruptions2026.05 | — | 0.7656 |