Cooperative 3D Object Detection on V2X-Real (EGO+AUX1)
54.3E2E mAP@0.5ParCon
Evaluation Results
| Method | Links | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| ParConAUX1=SD2, AUX2=SD22026.05 | 54.3 | 34.6 | 50.8 | 32.4 | 51.2 | 34 | 50.6 | 30.1 | 49.9 | 34.9 | |
| AttnFuseAUX1=SD2, AUX2=SD22026.05 | 50.2 | 31.9 | 50.7 | 33 | 42.9 | 27.5 | 50.3 | 32.5 | 46.6 | 30.7 | |
| V2X-ViTAUX1=SD2, AUX2=SD22026.05 | 50.2 | 31.8 | 50.7 | 32.6 | 44.8 | 28.2 | 47.6 | 30.4 | 47.3 | 32.4 | |
| ParConAUX1=SD3, AUX2=SD32026.05 | 49.2 | 31.1 | 46.5 | 29.8 | 43.3 | 27.3 | 41.4 | 21.3 | 48.8 | 33.6 | |
| AttnFuseAUX1=PP8, AUX2=PP82026.05 | 49 | 30.9 | 48.6 | 31.2 | 43.3 | 26.7 | 49.5 | 32.3 | 44.7 | 29.8 | |
| CoBEVTAUX1=SD2, AUX2=SD22026.05 | 48.7 | 28.6 | 49.8 | 29.2 | 42.3 | 25.6 | 47.5 | 29.4 | 44.1 | 25.7 | |
| V2X-ViTAUX1=PP8, AUX2=PP82026.05 | 47.9 | 31.2 | 47 | 30.4 | 43.6 | 27.3 | 44 | 27.1 | 40.8 | 27.1 | |
| V2X-ViTAUX1=SD3, AUX2=SD32026.05 | 47.9 | 32.2 | 45.4 | 29.7 | 43.5 | 28.9 | 41.2 | 26 | 47.5 | 31.8 | |
| AttnFuseAUX1=SD3, AUX2=SD32026.05 | 47.5 | 30.6 | 48.1 | 30.2 | 44.5 | 29.1 | 43.1 | 25.9 | 46.4 | 30.9 | |
| ParConAUX1=PP8, AUX2=PP82026.05 | 46.9 | 30.7 | 51.7 | 33.7 | 49.7 | 32.2 | 48.9 | 30.3 | 46.4 | 31.9 | |
| CoBEVTAUX1=PP8, AUX2=PP82026.05 | 46.6 | 27.5 | 45.1 | 25.3 | 40.9 | 21 | 44.5 | 28.3 | 41 | 23.4 | |
| V2X-ViTAUX1=PP6, AUX2=PP62026.05 | 46.3 | 30.5 | 44.7 | 30.1 | 44.4 | 28.7 | 40.6 | 23.5 | 42.6 | 29.1 | |
| CoBEVTAUX1=PP6, AUX2=PP62026.05 | 46.1 | 29.1 | 41.2 | 24.2 | 38.9 | 19.9 | 40.2 | 23.9 | 41.2 | 23.8 | |
| AttnFuseAUX1=PP6, AUX2=PP62026.05 | 45.5 | 29 | 45.3 | 29.8 | 43.9 | 28 | 44.9 | 27.9 | 44.6 | 29.9 | |
| CoBEVTAUX1=SD3, AUX2=SD32026.05 | 45.4 | 27 | 43.1 | 23.9 | 40 | 23.1 | 40 | 20.7 | 43.3 | 24.2 | |
| ParConAUX1=PP6, AUX2=PP62026.05 | 45.4 | 29.9 | 47.7 | 30.1 | 47.6 | 29.6 | 43.2 | 21 | 46.8 | 32.3 |