3D Object Detection on V2X-Real EGO+AUX2 (unseen evaluation)
49.9mAP@0.5ALF
Evaluation results
| Method | Links | ||
|---|---|---|---|
| ALFFusion Method=ParCon, AUX1=SD2, AUX2=SD2, Zero-shot=true2026.05 | 49.9 | 34.9 | |
| ALFFusion Method=ParCon, AUX1=SD3, AUX2=SD3, Zero-shot=true2026.05 | 48.8 | 33.6 | |
| ALFFusion Method=CoBEVT, AUX1=SD3, AUX2=SD3, Zero-shot=true2026.05 | 47.5 | 24.2 | |
| ALFFusion Method=CoBEVT, AUX1=SD2, AUX2=SD2, Zero-shot=true2026.05 | 47.3 | 25.7 | |
| ALFFusion Method=ParCon, AUX1=PP6, AUX2=PP6, Zero-shot=true2026.05 | 46.8 | 32.3 | |
| ALFFusion Method=AttnFuse, AUX1=SD2, AUX2=SD2, Zero-shot=true2026.05 | 46.6 | 30.7 | |
| ALFFusion Method=AttnFuse, AUX1=SD3, AUX2=SD3, Zero-shot=true2026.05 | 46.4 | 30.9 | |
| ALFFusion Method=ParCon, AUX1=PP8, AUX2=PP8, Zero-shot=true2026.05 | 46.4 | 31.9 | |
| CodeFillingFusion Method=V2X-ViT, AUX1=PP6, AUX2=PP6, Zero-shot=true2026.05 | 44.8 | 30.7 | |
| ALFFusion Method=AttnFuse, AUX1=PP8, AUX2=PP8, Zero-shot=true2026.05 | 44.7 | 29.8 | |
| ALFFusion Method=AttnFuse, AUX1=PP6, AUX2=PP6, Zero-shot=true2026.05 | 44.6 | 29.9 | |
| MPDAFusion Method=AttnFuse, AUX1=SD2, AUX2=SD2, Zero-shot=true2026.05 | 44.3 | 29.1 | |
| CodeFillingFusion Method=V2X-ViT, AUX1=PP8, AUX2=PP8, Zero-shot=true2026.05 | 44.3 | 30.8 | |
| MPDAFusion Method=ParCon, AUX1=SD2, AUX2=SD2, Zero-shot=true2026.05 | 44.2 | 28.4 | |
| CodeFillingFusion Method=AttnFuse, AUX1=SD2, AUX2=SD2, Zero-shot=true2026.05 | 44.1 | 28.5 | |
| ALFFusion Method=V2X-ViT, AUX1=SD2, AUX2=SD2, Zero-shot=true2026.05 | 44.1 | 32.4 | |
| CodeFillingFusion Method=AttnFuse, AUX1=SD3, AUX2=SD3, Zero-shot=true2026.05 | 44 | 28.2 | |
| CodeFillingFusion Method=ParCon, AUX1=SD2, AUX2=SD2, Zero-shot=true2026.05 | 44 | 29 | |
| MPDAFusion Method=V2X-ViT, AUX1=SD2, AUX2=SD2, Zero-shot=true2026.05 | 43.7 | 29.3 | |
| E2EFusion Method=V2X-ViT, AUX1=SD3, AUX2=SD3, Zero-shot=true2026.05 | 43.7 | 27.8 | |
| CodeFillingFusion Method=ParCon, AUX1=SD3, AUX2=SD3, Zero-shot=true2026.05 | 43.6 | 27.6 | |
| MPDAFusion Method=AttnFuse, AUX1=SD3, AUX2=SD3, Zero-shot=true2026.05 | 43.3 | 27.6 | |
| ALFFusion Method=V2X-ViT, AUX1=SD3, AUX2=SD3, Zero-shot=true2026.05 | 43.3 | 31.8 | |
| MPDAFusion Method=ParCon, AUX1=SD3, AUX2=SD3, Zero-shot=true2026.05 | 43.3 | 29.1 | |
| GenCommFusion Method=AttnFuse, AUX1=PP8, AUX2=PP8, Zero-shot=true2026.05 | 43.2 | 28.2 | |
| GenCommFusion Method=AttnFuse, AUX1=PP6, AUX2=PP6, Zero-shot=true2026.05 | 43.1 | 27.9 | |
| CodeFillingFusion Method=CoBEVT, AUX1=SD2, AUX2=SD2, Zero-shot=true2026.05 | 43.1 | 25 | |
| E2EFusion Method=V2X-ViT, AUX1=SD2, AUX2=SD2, Zero-shot=true2026.05 | 43.1 | 28.7 | |
| MPDAFusion Method=V2X-ViT, AUX1=SD3, AUX2=SD3, Zero-shot=true2026.05 | 43 | 27.7 | |
| CodeFillingFusion Method=ParCon, AUX1=PP8, AUX2=PP8, Zero-shot=true2026.05 | 42.9 | 28.2 | |
| GenCommFusion Method=AttnFuse, AUX1=SD3, AUX2=SD3, Zero-shot=true2026.05 | 42.6 | 28.1 | |
| ALFFusion Method=CoBEVT, AUX1=PP6, AUX2=PP6, Zero-shot=true2026.05 | 42.6 | 23.8 | |
| CodeFillingFusion Method=ParCon, AUX1=PP6, AUX2=PP6, Zero-shot=true2026.05 | 42.6 | 28.5 | |
| GenCommFusion Method=AttnFuse, AUX1=SD2, AUX2=SD2, Zero-shot=true2026.05 | 42.5 | 28 | |
| CodeFillingFusion Method=V2X-ViT, AUX1=SD2, AUX2=SD2, Zero-shot=true2026.05 | 42.4 | 27.8 | |
| MPDAFusion Method=ParCon, AUX1=PP8, AUX2=PP8, Zero-shot=true2026.05 | 41.6 | 27.3 | |
| E2EFusion Method=AttnFuse, AUX1=SD3, AUX2=SD3, Zero-shot=true2026.05 | 41.4 | 27.2 | |
| E2EFusion Method=AttnFuse, AUX1=SD2, AUX2=SD2, Zero-shot=true2026.05 | 41.3 | 25.1 | |
| ALFFusion Method=V2X-ViT, AUX1=PP6, AUX2=PP6, Zero-shot=true2026.05 | 41.2 | 29.1 | |
| ALFFusion Method=V2X-ViT, AUX1=PP8, AUX2=PP8, Zero-shot=true2026.05 | 41 | 27.1 | |
| CodeFillingFusion Method=CoBEVT, AUX1=SD3, AUX2=SD3, Zero-shot=true2026.05 | 40.9 | 23.5 | |
| E2EFusion Method=ParCon, AUX1=SD2, AUX2=SD2, Zero-shot=true2026.05 | 40.9 | 25.8 | |
| ALFFusion Method=CoBEVT, AUX1=PP8, AUX2=PP8, Zero-shot=true2026.05 | 40.8 | 23.4 | |
| CodeFillingFusion Method=V2X-ViT, AUX1=SD3, AUX2=SD3, Zero-shot=true2026.05 | 39.8 | 24.6 | |
| E2EFusion Method=V2X-ViT, AUX1=PP8, AUX2=PP8, Zero-shot=true2026.05 | 39.1 | 25.2 | |
| E2EFusion Method=ParCon, AUX1=SD3, AUX2=SD3, Zero-shot=true2026.05 | 39 | 24.8 | |
| GenCommFusion Method=V2X-ViT, AUX1=SD2, AUX2=SD2, Zero-shot=true2026.05 | 38.9 | 23.8 | |
| GenCommFusion Method=V2X-ViT, AUX1=PP6, AUX2=PP6, Zero-shot=true2026.05 | 38.6 | 24.6 | |
| GenCommFusion Method=V2X-ViT, AUX1=PP8, AUX2=PP8, Zero-shot=true2026.05 | 38.5 | 22.3 | |
| MPDAFusion Method=CoBEVT, AUX1=SD2, AUX2=SD2, Zero-shot=true2026.05 | 38.1 | 22.7 | |
| MPDAFusion Method=AttnFuse, AUX1=PP6, AUX2=PP6, Zero-shot=true2026.05 | 37.8 | 26.1 | |
| GenCommFusion Method=CoBEVT, AUX1=SD2, AUX2=SD2, Zero-shot=true2026.05 | 37.5 | 22.2 | |
| E2EFusion Method=V2X-ViT, AUX1=PP6, AUX2=PP6, Zero-shot=true2026.05 | 36.9 | 21.4 | |
| MPDAFusion Method=CoBEVT, AUX1=SD3, AUX2=SD3, Zero-shot=true2026.05 | 36.8 | 21.2 | |
| MPDAFusion Method=V2X-ViT, AUX1=PP6, AUX2=PP6, Zero-shot=true2026.05 | 36.4 | 22.1 | |
| GenCommFusion Method=CoBEVT, AUX1=SD3, AUX2=SD3, Zero-shot=true2026.05 | 36.3 | 20.5 | |
| E2EFusion Method=ParCon, AUX1=PP8, AUX2=PP8, Zero-shot=true2026.05 | 36.2 | 22.4 | |
| GenCommFusion Method=CoBEVT, AUX1=PP8, AUX2=PP8, Zero-shot=true2026.05 | 36.1 | 21.3 | |
| MPDAFusion Method=V2X-ViT, AUX1=PP8, AUX2=PP8, Zero-shot=true2026.05 | 36 | 21.2 | |
| GenCommFusion Method=ParCon, AUX1=PP6, AUX2=PP6, Zero-shot=true2026.05 | 35.4 | 22.1 | |
| MPDAFusion Method=CoBEVT, AUX1=PP8, AUX2=PP8, Zero-shot=true2026.05 | 35.2 | 19.6 | |
| GenCommFusion Method=V2X-ViT, AUX1=SD3, AUX2=SD3, Zero-shot=true2026.05 | 35.2 | 20.6 | |
| GenCommFusion Method=ParCon, AUX1=PP8, AUX2=PP8, Zero-shot=true2026.05 | 35.1 | 21.3 | |
| E2EFusion Method=CoBEVT, AUX1=SD3, AUX2=SD3, Zero-shot=true2026.05 | 34.8 | 18.4 | |
| GenCommFusion Method=ParCon, AUX1=SD3, AUX2=SD3, Zero-shot=true2026.05 | 34.6 | 20.8 | |
| GenCommFusion Method=CoBEVT, AUX1=PP6, AUX2=PP6, Zero-shot=true2026.05 | 33.9 | 20.1 | |
| GenCommFusion Method=ParCon, AUX1=SD2, AUX2=SD2, Zero-shot=true2026.05 | 33.2 | 19.9 | |
| E2EFusion Method=CoBEVT, AUX1=SD2, AUX2=SD2, Zero-shot=true2026.05 | 31.3 | 18.8 | |
| MPDAFusion Method=ParCon, AUX1=PP6, AUX2=PP6, Zero-shot=true2026.05 | 27.6 | 17.9 | |
| CodeFillingFusion Method=CoBEVT, AUX1=PP6, AUX2=PP6, Zero-shot=true2026.05 | 23.2 | 10.6 | |
| E2EFusion Method=ParCon, AUX1=PP6, AUX2=PP6, Zero-shot=true2026.05 | 22.9 | 13.4 | |
| CodeFillingFusion Method=AttnFuse, AUX1=PP6, AUX2=PP6, Zero-shot=true2026.05 | 20.1 | 14.3 | |
| MPDAFusion Method=CoBEVT, AUX1=PP6, AUX2=PP6, Zero-shot=true2026.05 | 17.5 | 4.1 | |
| CodeFillingFusion Method=CoBEVT, AUX1=PP8, AUX2=PP8, Zero-shot=true2026.05 | 17.2 | 9.7 | |
| CodeFillingFusion Method=AttnFuse, AUX1=PP8, AUX2=PP8, Zero-shot=true2026.05 | 11.6 | 7.7 | |
| E2EFusion Method=AttnFuse, AUX1=PP6, AUX2=PP6, Zero-shot=true2026.05 | 7.1 | 2.3 | |
| E2EFusion Method=AttnFuse, AUX1=PP8, AUX2=PP8, Zero-shot=true2026.05 | 4.7 | 2 | |
| E2EFusion Method=CoBEVT, AUX1=PP8, AUX2=PP8, Zero-shot=true2026.05 | 3 | 0.9 | |
| MPDAFusion Method=AttnFuse, AUX1=PP8, AUX2=PP8, Zero-shot=true2026.05 | 0.8 | 0.5 | |
| E2EFusion Method=CoBEVT, AUX1=PP6, AUX2=PP6, Zero-shot=true2026.05 | 0.7 | 0.1 |