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3D Object Detection on OPV2V-H (test)

98.38AP@30SiMO (Pyramid Fusion)
-3.935222.627449.1975.7526Mar 9, 2026
Updated 7mo ago

Evaluation results

MethodLinks
SiMO (Pyramid Fusion)Modality=L+C, Random Drop (RD)=false2026.0398.3898.0594.89
SiMO (Pyramid Fusion)Modality=L+C, Random Drop (RD)=true2026.0398.397.9494.64
HEAL (Pyramid Fusion)Modality=L2026.0398.229896.16
SiMO (Pyramid Fusion)Modality=L, Random Drop (RD)=true2026.0397.3297.0794.06
AttFusionModality=L2026.0396.6895.0987.16
SiMO (AttFusion)Modality=L+C, Random Drop (RD)=false2026.0396.5195.2685.1
SiMO (AttFusion)Modality=L+C, Random Drop (RD)=true2026.0396.194.9884.81
BEVFusionModality=L+C, Random Drop (RD)=true2026.0395.1894.2181.09
SiMO (AttFusion)Modality=L, Random Drop (RD)=true2026.0395.1194.0282.35
UniBEVModality=L+C, Random Drop (RD)=true2026.0393.3391.7170.75
UniBEVModality=L, Random Drop (RD)=true2026.0393.3291.7370.78
BEVFusionModality=L, Random Drop (RD)=true2026.0393.2791.9971.8
BM2CPModality=L+C2026.0391.6991.4586.87
BM2CPModality=L2026.0391.5591.3186.8
SiMO (Pyramid Fusion)Modality=C, Random Drop (RD)=true2026.0380.8169.6344.82
HEAL (Pyramid Fusion)Modality=C2026.0368.4560.4839.07
AttFusionModality=C2026.0368.3152.9125.3
SiMO (AttFusion)Modality=C, Random Drop (RD)=true2026.0366.5349.6922.59
UniBEVModality=C, Random Drop (RD)=true2026.031.9300
BM2CPModality=C2026.03000
BEVFusionModality=C, Random Drop (RD)=true2026.03000