BEV Segmentation on V2X-Sim 1.0 (test)
55.58Vehicle IoUUpper-bound
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| Upper-boundPerception Protocol=Collaborative, Attack Scenario=None (All benign agents)2025.06 | 55.58 | 48.2 | 47.33 | 69.6 | 29.34 | 21.67 | 41.02 | 40.45 | |
| CP-uniGuardAttack Scenario=PGD attack, Perception Protocol=Collaborative2025.06 | 52.84 | 46.41 | 46.73 | 68.41 | 29.01 | 20.48 | 40.16 | 39.34 | |
| CP-uniGuardAttack Scenario=FGSM attack, Perception Protocol=Collaborative2025.06 | 52.76 | 46.35 | 46.67 | 68.32 | 28.98 | 20.51 | 40.15 | 39.3 | |
| CP-uniGuardAttack Scenario=C&W attack, Perception Protocol=Collaborative2025.06 | 49.22 | 44.08 | 44.76 | 65.58 | 30.12 | 20.83 | 39.1 | 37.95 | |
| Lower-boundPerception Protocol=Individual perception, Attack Scenario=None2025.06 | 47.06 | 42.46 | 43.78 | 64.07 | 30.51 | 21.21 | 37.32 | 37.09 | |
| No DefenseAttack Scenario=C&W attack, Fusion Method=V2VNet2025.06 | 34.53 | 35.66 | 35.54 | 56.59 | 24.27 | 13.37 | 34.1 | 29.8 | |
| No DefenseAttack Scenario=FGSM attack, Fusion Method=V2VNet2025.06 | 26.8 | 27.21 | 29.05 | 36.41 | 16.44 | 12.05 | 22.99 | 21.57 | |
| No DefenseAttack Scenario=PGD attack, Fusion Method=V2VNet2025.06 | 22.5 | 19.63 | 15.42 | 15.33 | 9.18 | 8.29 | 22.72 | 14.34 |