3D Object Detection on V2X-Real EGO+AUX2 zero-shot 128-beam LiDAR
52mAP@0.5ALF
Evaluation results
| Method | Links | ||
|---|---|---|---|
| ALFFusion Architecture=ParCon, AUX1 (Training)=PP6, AUX2 (Evaluation)=SD22026.05 | 52 | 35.7 | |
| ALFFusion Architecture=ParCon, AUX1 (Training)=PP8, AUX2 (Evaluation)=SD22026.05 | 52 | 35.7 | |
| ALFFusion Architecture=ParCon, AUX1 (Training)=SD3, AUX2 (Evaluation)=SD22026.05 | 52 | 35.7 | |
| ALFFusion Architecture=ParCon, AUX1 (Training)=PP6, AUX2 (Evaluation)=SD32026.05 | 51.6 | 35.5 | |
| ALFFusion Architecture=ParCon, AUX1 (Training)=PP8, AUX2 (Evaluation)=SD32026.05 | 51.6 | 35.5 | |
| ALFFusion Architecture=ParCon, AUX1 (Training)=SD2, AUX2 (Evaluation)=SD32026.05 | 51.6 | 35.5 | |
| ALFFusion Architecture=ParCon, AUX1 (Training)=PP8, AUX2 (Evaluation)=PP62026.05 | 50.3 | 35.2 | |
| ALFFusion Architecture=ParCon, AUX1 (Training)=SD2, AUX2 (Evaluation)=PP62026.05 | 50.3 | 35.2 | |
| ALFFusion Architecture=ParCon, AUX1 (Training)=SD3, AUX2 (Evaluation)=PP62026.05 | 50.3 | 35.2 | |
| ALFFusion Architecture=ParCon, AUX1 (Training)=PP6, AUX2 (Evaluation)=PP82026.05 | 50.1 | 34.7 | |
| ALFFusion Architecture=ParCon, AUX1 (Training)=SD2, AUX2 (Evaluation)=PP82026.05 | 50.1 | 34.7 | |
| ALFFusion Architecture=ParCon, AUX1 (Training)=SD3, AUX2 (Evaluation)=PP82026.05 | 50.1 | 34.7 | |
| ALFFusion Architecture=V2X-ViT, AUX1 (Training)=PP6, AUX2 (Evaluation)=SD22026.05 | 49.8 | 33 | |
| ALFFusion Architecture=V2X-ViT, AUX1 (Training)=PP8, AUX2 (Evaluation)=SD22026.05 | 49.8 | 33 | |
| ALFFusion Architecture=V2X-ViT, AUX1 (Training)=SD3, AUX2 (Evaluation)=SD22026.05 | 49.8 | 33 | |
| ALFFusion Architecture=AttnFuse, AUX1 (Training)=PP6, AUX2 (Evaluation)=SD22026.05 | 49.6 | 32.7 | |
| ALFFusion Architecture=AttnFuse, AUX1 (Training)=PP8, AUX2 (Evaluation)=SD22026.05 | 49.6 | 32.7 | |
| ALFFusion Architecture=AttnFuse, AUX1 (Training)=SD3, AUX2 (Evaluation)=SD22026.05 | 49.6 | 32.7 | |
| ALFFusion Architecture=V2X-ViT, AUX1 (Training)=PP6, AUX2 (Evaluation)=SD32026.05 | 48.5 | 32.2 | |
| ALFFusion Architecture=V2X-ViT, AUX1 (Training)=PP8, AUX2 (Evaluation)=SD32026.05 | 48.5 | 32.2 | |
| ALFFusion Architecture=V2X-ViT, AUX1 (Training)=SD2, AUX2 (Evaluation)=SD32026.05 | 48.5 | 32.2 | |
| ALFFusion Architecture=V2X-ViT, AUX1 (Training)=PP8, AUX2 (Evaluation)=PP62026.05 | 48.2 | 32.8 | |
| ALFFusion Architecture=V2X-ViT, AUX1 (Training)=SD2, AUX2 (Evaluation)=PP62026.05 | 48.2 | 32.8 | |
| ALFFusion Architecture=V2X-ViT, AUX1 (Training)=SD3, AUX2 (Evaluation)=PP62026.05 | 48.2 | 32.8 | |
| ALFFusion Architecture=AttnFuse, AUX1 (Training)=PP6, AUX2 (Evaluation)=SD32026.05 | 47.9 | 31.6 | |
| ALFFusion Architecture=AttnFuse, AUX1 (Training)=PP8, AUX2 (Evaluation)=PP62026.05 | 47.9 | 32.7 | |
| ALFFusion Architecture=AttnFuse, AUX1 (Training)=PP8, AUX2 (Evaluation)=SD32026.05 | 47.9 | 31.6 | |
| ALFFusion Architecture=AttnFuse, AUX1 (Training)=SD2, AUX2 (Evaluation)=PP62026.05 | 47.9 | 32.7 | |
| ALFFusion Architecture=AttnFuse, AUX1 (Training)=SD2, AUX2 (Evaluation)=SD32026.05 | 47.9 | 31.6 | |
| ALFFusion Architecture=AttnFuse, AUX1 (Training)=SD3, AUX2 (Evaluation)=PP62026.05 | 47.9 | 32.7 | |
| ALFFusion Architecture=V2X-ViT, AUX1 (Training)=PP6, AUX2 (Evaluation)=PP82026.05 | 47.7 | 32.2 | |
| ALFFusion Architecture=V2X-ViT, AUX1 (Training)=SD2, AUX2 (Evaluation)=PP82026.05 | 47.7 | 32.2 | |
| ALFFusion Architecture=V2X-ViT, AUX1 (Training)=SD3, AUX2 (Evaluation)=PP82026.05 | 47.7 | 32.2 | |
| ALFFusion Architecture=CoBEVT, AUX1 (Training)=PP6, AUX2 (Evaluation)=SD22026.05 | 47.5 | 27.5 | |
| ALFFusion Architecture=CoBEVT, AUX1 (Training)=PP8, AUX2 (Evaluation)=SD22026.05 | 47.5 | 27.5 | |
| ALFFusion Architecture=CoBEVT, AUX1 (Training)=SD3, AUX2 (Evaluation)=SD22026.05 | 47.5 | 27.5 | |
| ALFFusion Architecture=AttnFuse, AUX1 (Training)=PP6, AUX2 (Evaluation)=PP82026.05 | 47.2 | 31.7 | |
| ALFFusion Architecture=AttnFuse, AUX1 (Training)=SD2, AUX2 (Evaluation)=PP82026.05 | 47.2 | 31.7 | |
| ALFFusion Architecture=AttnFuse, AUX1 (Training)=SD3, AUX2 (Evaluation)=PP82026.05 | 47.2 | 31.7 | |
| ALFFusion Architecture=CoBEVT, AUX1 (Training)=PP6, AUX2 (Evaluation)=SD32026.05 | 46.1 | 26.8 | |
| ALFFusion Architecture=CoBEVT, AUX1 (Training)=PP8, AUX2 (Evaluation)=SD32026.05 | 46.1 | 26.8 | |
| ALFFusion Architecture=CoBEVT, AUX1 (Training)=SD2, AUX2 (Evaluation)=SD32026.05 | 46.1 | 26.8 | |
| ALFFusion Architecture=CoBEVT, AUX1 (Training)=PP6, AUX2 (Evaluation)=PP82026.05 | 45.8 | 26.1 | |
| ALFFusion Architecture=CoBEVT, AUX1 (Training)=SD2, AUX2 (Evaluation)=PP82026.05 | 45.8 | 26.1 | |
| ALFFusion Architecture=CoBEVT, AUX1 (Training)=SD3, AUX2 (Evaluation)=PP82026.05 | 45.8 | 26.1 | |
| ALFFusion Architecture=CoBEVT, AUX1 (Training)=PP8, AUX2 (Evaluation)=PP62026.05 | 45.2 | 26.6 | |
| ALFFusion Architecture=CoBEVT, AUX1 (Training)=SD2, AUX2 (Evaluation)=PP62026.05 | 45.2 | 26.6 | |
| ALFFusion Architecture=CoBEVT, AUX1 (Training)=SD3, AUX2 (Evaluation)=PP62026.05 | 45.2 | 26.6 | |
| GenCommFusion Architecture=AttnFuse, AUX1=PP6, AUX2=PP82026.05 | 43.5 | 28.3 | |
| CodeFillingFusion Architecture=AttnFuse, AUX1=PP6, AUX2=PP82026.05 | 39.5 | 25.8 | |
| MPDAFusion Architecture=AttnFuse, AUX1=PP6, AUX2=PP82026.05 | 37.9 | 24 | |
| E2EFusion Architecture=AttnFuse, AUX1=PP6, AUX2=PP82026.05 | 5.2 | 0.5 |