3D Object Detection on OPV2V-H (test)
98.38AP@30SiMO (Pyramid Fusion)
Evaluation Results
| Method | Links | |||
|---|---|---|---|---|
| SiMO (Pyramid Fusion)Modality=L+C, Random Drop (RD)=false2026.03 | 98.38 | 98.05 | 94.89 | |
| SiMO (Pyramid Fusion)Modality=L+C, Random Drop (RD)=true2026.03 | 98.3 | 97.94 | 94.64 | |
| HEAL (Pyramid Fusion)Modality=L2026.03 | 98.22 | 98 | 96.16 | |
| SiMO (Pyramid Fusion)Modality=L, Random Drop (RD)=true2026.03 | 97.32 | 97.07 | 94.06 | |
| AttFusionModality=L2026.03 | 96.68 | 95.09 | 87.16 | |
| SiMO (AttFusion)Modality=L+C, Random Drop (RD)=false2026.03 | 96.51 | 95.26 | 85.1 | |
| SiMO (AttFusion)Modality=L+C, Random Drop (RD)=true2026.03 | 96.1 | 94.98 | 84.81 | |
| BEVFusionModality=L+C, Random Drop (RD)=true2026.03 | 95.18 | 94.21 | 81.09 | |
| SiMO (AttFusion)Modality=L, Random Drop (RD)=true2026.03 | 95.11 | 94.02 | 82.35 | |
| UniBEVModality=L+C, Random Drop (RD)=true2026.03 | 93.33 | 91.71 | 70.75 | |
| UniBEVModality=L, Random Drop (RD)=true2026.03 | 93.32 | 91.73 | 70.78 | |
| BEVFusionModality=L, Random Drop (RD)=true2026.03 | 93.27 | 91.99 | 71.8 | |
| BM2CPModality=L+C2026.03 | 91.69 | 91.45 | 86.87 | |
| BM2CPModality=L2026.03 | 91.55 | 91.31 | 86.8 | |
| SiMO (Pyramid Fusion)Modality=C, Random Drop (RD)=true2026.03 | 80.81 | 69.63 | 44.82 | |
| HEAL (Pyramid Fusion)Modality=C2026.03 | 68.45 | 60.48 | 39.07 | |
| AttFusionModality=C2026.03 | 68.31 | 52.91 | 25.3 | |
| SiMO (AttFusion)Modality=C, Random Drop (RD)=true2026.03 | 66.53 | 49.69 | 22.59 | |
| UniBEVModality=C, Random Drop (RD)=true2026.03 | 1.93 | 0 | 0 | |
| BM2CPModality=C2026.03 | 0 | 0 | 0 | |
| BEVFusionModality=C, Random Drop (RD)=true2026.03 | 0 | 0 | 0 |