3D Object Detection on OPV2V
97.1AP@0.50Full-Precision
Evaluation results
| Method | Links | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| Full-PrecisionBits (W/A)=32/322025.09 | 97.1 | — | — | 97.9 | — | — | — | — | — | — | |
| Ours (V2X-DSC)DCC module=Yes2026.01 | 96.89 | — | 93.22 | 97.2 | — | — | — | — | — | — | |
| CoSDHFusion Strategy=intermediate-late fusion2025.10 | 96.75 | — | 90.79 | — | — | — | — | — | — | 97.36 | |
| QuantV2XBits (W/A)=4/82025.09 | 96.7 | — | — | 97.6 | — | — | — | — | — | — | |
| Standard Colla.Comm. Volume=34.375 MB2025.12 | 96.53 | — | 92.29 | 97.09 | — | — | — | — | — | — | |
| InfoComComm. Volume=7.875 KB2025.12 | 96.5 | — | 92.02 | 97.02 | — | — | — | — | — | — | |
| WaveCommSensor Modality=LiDAR-based2026.03 | 96.5 | 21 | 92.6 | — | — | — | — | — | — | — | |
| FadeLeadFusion Strategy=intermediate-late fusion2025.10 | 96.48 | — | 92.51 | — | — | — | — | — | — | 96.82 | |
| Where2CommFusion Strategy=intermediate-late fusion2025.10 | 96.01 | — | 90.4 | — | — | — | — | — | — | 96.43 | |
| ERMVPComm. Volume=0.741 MB2025.12 | 95.57 | — | 91.27 | 96.18 | — | — | — | — | — | — | |
| Where2commDCC module=Not Specified2026.01 | 95.43 | — | 91.67 | 95.97 | — | — | — | — | — | — | |
| CodefillingDCC module=Not Specified2026.01 | 95.23 | — | 91.05 | 95.62 | — | — | — | — | — | — | |
| CoAlign + DCCDCC module=Inserted2026.01 | 95.03 | — | 90.44 | 95.51 | — | — | — | — | — | — | |
| HM-ViTSensor Modality=LiDAR-based2026.03 | 95 | 24 | 87.3 | — | — | — | — | — | — | — | |
| Late CollaborationComm. Volume=6.250 KB2025.12 | 94.99 | — | 84.95 | 96.22 | — | — | — | — | — | — | |
| V2X-ViT + DCCDCC module=Inserted2026.01 | 94.71 | — | 84.24 | 96.13 | — | — | — | — | — | — | |
| EIMCMix-Voxel module=true2026.03 | 94.71 | — | 89.16 | 95.29 | — | 20.16 | — | — | — | — | |
| COREFusion Strategy=intermediate-late fusion2025.10 | 94.67 | — | 87.62 | — | — | — | — | — | — | 95.41 | |
| Where2commComm. Volume=3.439 MB2025.12 | 94.63 | — | 88.2 | 95.48 | — | — | — | — | — | — | |
| CoAlignDCC module=Original2026.01 | 94.42 | — | 89.89 | 94.98 | — | — | — | — | — | — | |
| CoBEVT + DCCDCC module=Inserted2026.01 | 94.18 | — | 84.82 | 95.32 | — | — | — | — | — | — | |
| F-Cooper + DCCDCC module=Inserted2026.01 | 93.78 | — | 85.85 | 94.47 | — | — | — | — | — | — | |
| V2X-VIT2026.03 | 93.66 | — | 86.06 | 95.09 | — | 24 | — | — | — | — | |
| CoBEVTSensor Modality=LiDAR-based2026.03 | 93.5 | 24 | 82.1 | — | — | — | — | — | — | — | |
| WhisperNetParams=7.28 M2026.03 | 93.34 | — | 87.64 | — | — | — | — | — | — | — | |
| AttFuse + DCCDCC module=Inserted2026.01 | 93.27 | — | 82.28 | 93.94 | — | — | — | — | — | — | |
| V2VNet2026.03 | 93.13 | — | 89 | 93.56 | — | 25.43 | — | — | — | — | |
| Disco + DCCDCC module=Inserted2026.01 | 93.08 | — | 83.98 | 93.33 | — | — | — | — | — | — | |
| BM2CP2026.03 | 93.04 | — | 88.94 | 93.34 | — | 23.18 | — | — | — | — | |
| CoBEVT2026.03 | 93.03 | — | 84.64 | 94.54 | — | 24 | — | — | — | — | |
| V2X-ViTDCC module=Original2026.01 | 93 | — | 81.8 | 95.17 | — | — | — | — | — | — | |
| EIMCMix-Voxel module=false2026.03 | 92.27 | — | 83.96 | 93.59 | — | 18.97 | — | — | — | — | |
| SparseAlign2025.03 | 92.2 | — | 81.6 | — | — | — | — | — | — | — | |
| QPoint2CommTime Delay=100ms, Localization Error=0.2m, Heading Error=0.2°2026.02 | 92.18 | — | 82.21 | — | — | — | — | — | — | — | |
| JigsawCommBackbone=PointPillars, Communication Budget=unlimited2025.11 | 92 | — | 82 | — | — | — | 17 | 44 | 100 | — | |
| CoBEVTDCC module=Original2026.01 | 91.84 | — | 76.8 | 95.4 | — | — | — | — | — | — | |
| DSRCParams=10.14 M2026.03 | 91.83 | — | 85.26 | — | — | — | — | — | — | — | |
| V2VNetParams=16.08 M2026.03 | 91.75 | — | 82.21 | — | — | — | — | — | — | — | |
| V2X-ViTSensor Modality=LiDAR-based2026.03 | 91.7 | 24 | 79 | — | — | — | — | — | — | — | |
| ERMVPParams=11.87 M2026.03 | 91.39 | — | 84.04 | — | — | — | — | — | — | — | |
| CoAlignParams=11.42 M2026.03 | 91.32 | — | 83.81 | — | — | — | — | — | — | — | |
| AttFusionBackbone=PointPillars, Communication Budget=unlimited2025.11 | 91 | — | 82 | — | — | — | 8,800 | 22,792 | 0.19 | — | |
| V2X-ViTParams=14.50 M2026.03 | 90.35 | — | 81.19 | — | — | — | — | — | — | — | |
| AttFuseDCC module=Original2026.01 | 89.86 | — | 77.06 | 92.98 | — | — | — | — | — | — | |
| CoSDHParams=8.52 M2026.03 | 89.52 | — | 83.73 | — | — | — | — | — | — | — | |
| Where2commParams=10.43 M2026.03 | 89.37 | — | 78.89 | — | — | — | — | — | — | — | |
| GT-SpaceEgo=Agent 1, Collaborates with=Agent 22026.03 | 89.1 | — | 81 | — | — | — | — | — | — | — | |
| Fcooper2026.03 | 89.03 | — | 74.28 | 93.88 | — | 24 | — | — | — | — | |
| F-CooperBackbone=PointPillars, Communication Budget=unlimited2025.11 | 89 | — | 79 | — | — | — | 8,800 | 22,792 | 0.19 | — | |
| AttFusion + Enc-DecBackbone=PointPillars, Communication Budget=unlimited2025.11 | 89 | — | 81 | — | — | — | 4,400 | 11,396 | 0.38 | — | |
| ERMVPBackbone=PointPillars, Communication Budget=unlimited2025.11 | 89 | — | 79 | — | — | — | 845 | 2,189 | 1.97 | — | |
| mmCooperTime Delay=100ms, Localization Error=0.2m, Heading Error=0.2°2026.02 | 88.93 | — | 78.11 | — | — | — | — | — | — | — | |
| HEALEgo=Agent 1, Collaborates with=Agent 22026.03 | 88.7 | — | 80.1 | — | — | — | — | — | — | — | |
| Intermediate FusionTime Delay=100ms, Localization Error=0.2m, Heading Error=0.2°2026.02 | 88.41 | — | 70.82 | — | — | — | — | — | — | — | |
| DiscoNetSensor Modality=LiDAR-based2026.03 | 88.2 | 24 | 73.7 | — | — | — | — | — | — | — | |
| HetecooperEgo=Agent 1, Collaborates with=Agent 22026.03 | 88.1 | — | 80.4 | — | — | — | — | — | — | — | |
| AttFusionSensor Modality=LiDAR-based2026.03 | 87.8 | 24 | 75.1 | — | — | — | — | — | — | — | |
| PnPDAEgo=Agent 1, Collaborates with=Agent 22026.03 | 87.8 | — | 79.2 | — | — | — | — | — | — | — | |
| DiscoDCC module=Original2026.01 | 87.65 | — | 73.73 | 91.75 | — | — | — | — | — | — | |
| STAMPEgo=Agent 1, Collaborates with=Agent 22026.03 | 87.6 | — | 80.6 | — | — | — | — | — | — | — | |
| V2X-ViTBackbone=PointPillars, Communication Budget=unlimited2025.11 | 87 | — | 67 | — | — | — | 8,800 | 22,792 | 0.18 | — | |
| CoSTBackbone=PointPillars, Communication Budget=unlimited2025.11 | 87 | — | 76 | — | — | — | 4,194 | 12,163 | 0.35 | — | |
| Where2comm2026.03 | 86.77 | — | 76.34 | 88.36 | — | 24 | — | — | — | — | |
| LateParams=6.28 M2026.03 | 86.7 | — | 80.25 | — | — | — | — | — | — | — | |
| ERMVPTime Delay=100ms, Localization Error=0.2m, Heading Error=0.2°2026.02 | 86.63 | — | 69.71 | — | — | — | — | — | — | — | |
| Attn2026.03 | 86.3 | — | 75.32 | 88.08 | — | 24 | — | — | — | — | |
| How2CommParams=35.79 M2026.03 | 85.89 | — | 71.47 | — | — | — | — | — | — | — | |
| HM-ViTEgo=Agent 1, Collaborates with=Agent 22026.03 | 85.7 | — | 73.1 | — | — | — | — | — | — | — | |
| MRCNetParams=18.79 M2026.03 | 85.29 | — | 76.98 | — | — | — | — | — | — | — | |
| Where2commTime Delay=100ms, Localization Error=0.2m, Heading Error=0.2°2026.02 | 85.16 | — | 69.73 | — | — | — | — | — | — | — | |
| Where2commBackbone=PointPillars, Communication Budget=unlimited2025.11 | 85 | — | 60 | — | — | — | 1,152 | 2,795 | 1.47 | — | |
| GT-SpaceEgo=Agent 1, Collaborates with=Agent 32026.03 | 84.8 | — | 76.6 | — | — | — | — | — | — | — | |
| DisoNetTime Delay=100ms, Localization Error=0.2m, Heading Error=0.2°2026.02 | 84.72 | — | 68.64 | — | — | — | — | — | — | — | |
| V2X-ViTTime Delay=100ms, Localization Error=0.2m, Heading Error=0.2°2026.02 | 84.65 | — | 70.06 | — | — | — | — | — | — | — | |
| No CollaborationComm. Volume=02025.12 | 84.64 | — | 72.88 | 86.65 | — | — | — | — | — | — | |
| CoRAPose error Level (σt/σr)=0.6/0.6, Comm. (MB)=3.82025.12 | 84.51 | — | 65.44 | — | — | — | — | — | — | — | |
| GT-SpaceEgo=Agent 1, Collaborates with=Agent 42026.03 | 84.4 | — | 76.2 | — | — | — | — | — | — | — | |
| CATNetPublished=–, Params=09.95 M2026.03 | 84.3 | — | 68.6 | — | — | — | — | — | — | — | |
| Inter.Params=6.28 M2026.03 | 84.03 | — | 67.74 | — | — | — | — | — | — | — | |
| STAMPEgo=Agent 1, Collaborates with=Agent 32026.03 | 83.3 | — | 73.4 | — | — | — | — | — | — | — | |
| COREPublished=ICCV’23, Params=09.19 M, Category=Noise-robust2026.03 | 83.1 | — | 62.8 | — | — | — | — | — | — | — | |
| ERMVPPose error Level (σt/σr)=0.6/0.6, Comm. (MB)=6.342025.12 | 83.03 | — | 56.55 | — | — | — | — | — | — | — | |
| SICPTime Delay=100ms, Localization Error=0.2m, Heading Error=0.2°2026.02 | 82.86 | — | 67.13 | — | — | — | — | — | — | — | |
| HEALEgo=Agent 1, Collaborates with=Agent 32026.03 | 82.7 | — | 72.4 | — | — | — | — | — | — | — | |
| STAMPEgo=Agent 1, Collaborates with=Agent 42026.03 | 82.7 | — | 73.8 | — | — | — | — | — | — | — | |
| F-CooperDCC module=Original2026.01 | 82.53 | — | 61.8 | 91.26 | — | — | — | — | — | — | |
| HEALEgo=Agent 1, Collaborates with=Agent 42026.03 | 82.3 | — | 72.8 | — | — | — | — | — | — | — | |
| Late fusionEgo=Agent 1, Collaborates with=Agent 22026.03 | 82.1 | — | 68 | — | — | — | — | — | — | — | |
| ERMVPPublished=CVPR’24, Params=12.42 M, Category=Latency-aware2026.03 | 82 | — | 67.9 | — | — | — | — | — | — | — | |
| V2X-ViTPublished=ICRA’22, Params=13.50 M, Category=Noise-robust2026.03 | 81.7 | — | 63.3 | — | — | — | — | — | — | — | |
| MRCNetPublished=CVPR’24, Params=19.71 M, Category=Latency-aware2026.03 | 81.4 | — | 61.7 | — | — | — | — | — | — | — | |
| HM-ViTEgo=Agent 1, Collaborates with=Agent 32026.03 | 81.4 | — | 64.6 | — | — | — | — | — | — | — | |
| HetecooperEgo=Agent 1, Collaborates with=Agent 32026.03 | 81.2 | — | 70.3 | — | — | — | — | — | — | — | |
| PnPDAEgo=Agent 1, Collaborates with=Agent 32026.03 | 80.9 | — | 65.1 | — | — | — | — | — | — | — | |
| SinglePose error Level (σt/σr)=0/02025.12 | 80.78 | — | 68.53 | — | — | — | — | — | — | — | |
| SingleParams=6.28 M2026.03 | 80.78 | — | 68.53 | — | — | — | — | — | — | — | |
| HM-ViTEgo=Agent 1, Collaborates with=Agent 42026.03 | 80.7 | — | 65.2 | — | — | — | — | — | — | — | |
| HetecooperEgo=Agent 1, Collaborates with=Agent 42026.03 | 80.7 | — | 68.4 | — | — | — | — | — | — | — | |
| PnPDAEgo=Agent 1, Collaborates with=Agent 42026.03 | 80.2 | — | 65.3 | — | — | — | — | — | — | — | |
| MDDParams=8.09 M2026.03 | 80.07 | — | 68.17 | — | — | — | — | — | — | — |