3D Object Detection on V2X-Real (test)
91.3Vehicle AP@0.3FocalComm
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| FocalCommScenario=I2I2025.12 | 91.3 | 87.5 | 58.5 | 29.5 | 60.8 | 57.4 | 70.2 | 58.1 | |
| FocalCommScenario=V2V2025.12 | 90 | 87 | 53.9 | 27.1 | 50.5 | 42.3 | 64.8 | 52.1 | |
| ERMVPScenario=V2V2025.12 | 86.7 | 84 | 50.6 | 23.5 | 41.7 | 38.7 | 59.7 | 48.7 | |
| V2VNetScenario=I2I2025.12 | 86.7 | 82.1 | 41.9 | 18.9 | 53.5 | 49.8 | 60.7 | 50.3 | |
| F-CooperScenario=V2V2025.12 | 86.6 | 83.2 | 45.3 | 23.3 | 45.5 | 40.8 | 59.1 | 49.1 | |
| V2VNetScenario=V2V2025.12 | 86.5 | 82.5 | 31.1 | 13.1 | 39.2 | 32.9 | 52.3 | 42.8 | |
| CoBEVTScenario=V2V2025.12 | 86.1 | 83.9 | 51 | 28.5 | 48.6 | 43.3 | 61.9 | 51.9 | |
| ERMVPScenario=I2I2025.12 | 84.7 | 82 | 52.2 | 27.2 | 55.7 | 55 | 64.2 | 54.7 | |
| V2X-ViTScenario=I2I2025.12 | 84.5 | 80.2 | 38.7 | 15.7 | 54.6 | 53.4 | 59.3 | 49.7 | |
| V2X-ViTScenario=V2V2025.12 | 84.1 | 80.6 | 38.2 | 15.6 | 41.4 | 37 | 54.5 | 44.4 | |
| F-CooperScenario=I2I2025.12 | 84 | 79.9 | 49.7 | 21 | 59.3 | 58.2 | 64.3 | 53 | |
| CoBEVTScenario=I2I2025.12 | 84 | 81.1 | 53.1 | 30.6 | 61.9 | 60.1 | 66.3 | 57.2 | |
| CoAlignScenario=V2V2025.12 | 83.6 | 80.8 | 37.4 | 17.1 | 50.1 | 36.1 | 57 | 44.7 | |
| CoAlignScenario=I2I2025.12 | 83.5 | 82 | 41.1 | 17.4 | 57 | 54.4 | 60.5 | 51.3 | |
| AttFuseScenario=I2I2025.12 | 82.8 | 81.8 | 52.1 | 28.2 | 57.4 | 55.3 | 64.1 | 55.1 | |
| AttFuseScenario=V2V2025.12 | 81.1 | 79.9 | 44.4 | 20.5 | 48.7 | 46.5 | 58.1 | 49 | |
| No CollaborationScenario=V2V2025.12 | 73.7 | 68.4 | 31.8 | 13.9 | 21.2 | 15.7 | 42.2 | 32.7 | |
| No CollaborationScenario=I2I2025.12 | 70.6 | 59.1 | 29.7 | 10.7 | 46.6 | 42 | 49 | 37.3 |