3D Object Detection on V2XSet
94.25AP@0.50HEAL (Pyramid Fusion)
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| HEAL (Pyramid Fusion)Modality=L2026.03 | 94.25 | 89.65 | 94.96 | |
| InfoComComm. Volume=7.875 KB2025.12 | 92.73 | 84.88 | 93.6 | |
| SiMO (Pyramid Fusion)Modality=L+C (RD)2026.03 | 92.66 | 85.85 | 93.46 | |
| Standard Colla.Comm. Volume=34.375 MB2025.12 | 92.12 | 84.26 | 93.17 | |
| V2X-ViTExpectation of interval (ms)=02023.09 | 91.2 | 75.1 | — | |
| Late CollaborationComm. Volume=6.250 KB2025.12 | 90.76 | 71.2 | 93.21 | |
| V2VNetExpectation of interval (ms)=02023.09 | 90.6 | 78.1 | — | |
| SiMO (Pyramid Fusion)Modality=L (RD)2026.03 | 90.44 | 84.09 | 91.09 | |
| Where2commExpectation of interval (ms)=02023.09 | 90.1 | 84.7 | — | |
| Where2comm+SyncNetExpectation of interval (ms)=02023.09 | 90.1 | 84.7 | — | |
| CoBEVFlowExpectation of interval (ms)=02023.09 | 90.1 | 84.7 | — | |
| Late FusionExpectation of interval (ms)=02023.09 | 88.1 | 75.1 | — | |
| GT-SpaceEgo=Agent 1, Collaborates with=Agent 22026.03 | 87.4 | 80.2 | — | |
| CoBEVFlowExpectation of interval (ms)=3002023.09 | 87.1 | 77.6 | — | |
| Where2commComm. Volume=3.439 MB2025.12 | 86.04 | 74.17 | 88.34 | |
| HetecooperEgo=Agent 1, Collaborates with=Agent 22026.03 | 86 | 78.2 | — | |
| CATNetPublished=–, Params=09.95 M2026.03 | 85.8 | 64.3 | — | |
| STAMPEgo=Agent 1, Collaborates with=Agent 22026.03 | 85.8 | 77.4 | — | |
| HEALEgo=Agent 1, Collaborates with=Agent 22026.03 | 85.4 | 77.8 | — | |
| SiMO (AttFusion)Modality=L+C (RD)2026.03 | 85.2 | 72.09 | 86.95 | |
| SiMO (AttFusion)Modality=L (RD)2026.03 | 84.85 | 70.05 | 86.4 | |
| CoBEVFlowExpectation of interval (ms)=5002023.09 | 84.1 | 71.3 | — | |
| PnPDAEgo=Agent 1, Collaborates with=Agent 22026.03 | 83.5 | 76.3 | — | |
| GT-SpaceEgo=Agent 1, Collaborates with=Agent 42026.03 | 83 | 73.8 | — | |
| GT-SpaceEgo=Agent 1, Collaborates with=Agent 32026.03 | 82.6 | 74.1 | — | |
| BEVFusionModality=L+C (RD)2026.03 | 82.3 | 65.45 | 83.56 | |
| MRCNetPublished=CVPR’24, Params=19.71 M, Category=Latency-aware2026.03 | 81.7 | 61.8 | — | |
| HM-ViTEgo=Agent 1, Collaborates with=Agent 22026.03 | 80.3 | 71 | — | |
| Where2comm+SyncNetExpectation of interval (ms)=3002023.09 | 80.1 | 66.3 | — | |
| DSRCPublished=AAAI’25, Params=40.64 M, Category=Noise-robust2026.03 | 80.1 | 59.6 | — | |
| STAMPEgo=Agent 1, Collaborates with=Agent 32026.03 | 80.1 | 70.3 | — | |
| V2X-ViTPublished=ICRA’22, Params=13.50 M, Category=Noise-robust2026.03 | 79.7 | 59.3 | — | |
| STAMPEgo=Agent 1, Collaborates with=Agent 42026.03 | 79.6 | 69.2 | — | |
| HEALEgo=Agent 1, Collaborates with=Agent 42026.03 | 79.1 | 68.8 | — | |
| CoAlignPublished=ICRA’23, Params=11.43 M, Category=Noise-robust2026.03 | 78.6 | 58.1 | — | |
| HEALEgo=Agent 1, Collaborates with=Agent 32026.03 | 78.5 | 69.3 | — | |
| Where2comm+SyncNetExpectation of interval (ms)=5002023.09 | 78.1 | 64.5 | — | |
| No CollaborationComm. Volume=02025.12 | 77.19 | 62.22 | 80.32 | |
| COREPublished=ICCV’23, Params=09.19 M, Category=Noise-robust2026.03 | 76.4 | 50.4 | — | |
| HetecooperEgo=Agent 1, Collaborates with=Agent 32026.03 | 75.9 | 68.4 | — | |
| Where2commPublished=NIPS’22, Params=11.43 M, Category=Regular2026.03 | 75.7 | 49.5 | — | |
| How2commPublished=NIPS’23, Params=35.80 M, Category=Latency-aware2026.03 | 74.9 | 62.4 | — | |
| PnPDAEgo=Agent 1, Collaborates with=Agent 32026.03 | 74.9 | 62.3 | — | |
| HetecooperEgo=Agent 1, Collaborates with=Agent 42026.03 | 74.7 | 68 | — | |
| BEVFusionModality=L (RD)2026.03 | 74.53 | 53.22 | 75.96 | |
| ERMVPPublished=CVPR’24, Params=12.42 M, Category=Latency-aware2026.03 | 74.4 | 49.9 | — | |
| PnPDAEgo=Agent 1, Collaborates with=Agent 42026.03 | 74.3 | 63.4 | — | |
| HM-ViTEgo=Agent 1, Collaborates with=Agent 32026.03 | 74.1 | 62.5 | — | |
| HM-ViTEgo=Agent 1, Collaborates with=Agent 42026.03 | 73.6 | 63.1 | — | |
| CoMambaPublished=Arxiv’24, Params=09.15 M, Category=Regular2026.03 | 72.6 | 53.1 | — | |
| SingleDescription=Single agent detection baseline2023.09 | 72 | 55.6 | — | |
| Late fusionEgo=Agent 1, Collaborates with=Agent 22026.03 | 71.9 | 62.9 | — | |
| V2X-ViTExpectation of interval (ms)=3002023.09 | 71.2 | 52.9 | — | |
| No FusionPublished=–, Params=–2026.03 | 69.8 | 51.6 | — | |
| Where2commExpectation of interval (ms)=3002023.09 | 67.7 | 54.2 | — | |
| Late fusionEgo=Agent 1, Collaborates with=Agent 32026.03 | 67.4 | 54.1 | — | |
| Non-collaborationEgo=Agent 1, Collaborates with=Agent 22026.03 | 67.1 | 53.7 | — | |
| Non-collaborationEgo=Agent 1, Collaborates with=Agent 32026.03 | 67.1 | 53.7 | — | |
| Non-collaborationEgo=Agent 1, Collaborates with=Agent 42026.03 | 67.1 | 53.7 | — | |
| Late fusionEgo=Agent 1, Collaborates with=Agent 42026.03 | 66.7 | 54.8 | — | |
| V2X-ViTExpectation of interval (ms)=5002023.09 | 64.2 | 49.9 | — | |
| Where2commExpectation of interval (ms)=5002023.09 | 61.2 | 51.1 | — | |
| V2VNetExpectation of interval (ms)=3002023.09 | 58.1 | 33.4 | — | |
| SiMO (Pyramid Fusion)Modality=C (RD)2026.03 | 56.42 | 33.89 | 68.16 | |
| V2VNetExpectation of interval (ms)=5002023.09 | 52.4 | 34.1 | — | |
| HEAL (Pyramid Fusion)Modality=C2026.03 | 46.72 | 31.71 | 56.99 | |
| Late FusionExpectation of interval (ms)=3002023.09 | 46 | 30.7 | — | |
| Late FusionExpectation of interval (ms)=5002023.09 | 44.2 | 33.3 | — | |
| SiMO (AttFusion)Modality=C (RD)2026.03 | 39.81 | 19.39 | 52.1 | |
| BEVFusionModality=C (RD)2026.03 | 0 | 0 | 0 |