Cooperative Object Detection on OPV2V
93.5AP@0.5V2VFormer++
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| V2VFormer++BW(Mb)=72.08, Modality=LiDAR+Camera2025.03 | 93.5 | 89.5 | — | — | — | |
| SparseAlignBW(Mb)=< 1.32025.03 | 93 | 89.2 | — | — | — | |
| V2VNetBW(Mb)=72.082025.03 | 91.7 | 82.2 | — | — | — | |
| V2VAMBW(Mb)=72.082025.03 | 91.6 | 85 | — | — | — | |
| COBEVTBW(Mb)=72.082025.03 | 91.3 | 86.1 | — | — | — | |
| OPV2VBW(Mb)=126.82025.03 | 90.5 | 81.5 | — | — | — | |
| CoAlignBW(Mb)=72.082025.03 | 90.2 | 83.3 | — | — | — | |
| FcooperBW(Mb)=72.082025.03 | 88.7 | 79 | — | — | — | |
| FPVRCNNBW(Mb)=0.242025.03 | 87.3 | 82 | — | — | — | |
| AttFuseTrain Data=gt (oracle)2025.02 | 77 | — | 94 | 80 | 62 | |
| AttFuseTrain Data=TYP (ours)2025.02 | 72 | — | 90 | 73 | 56 | |
| V2X-ViTTrain Data=gt (oracle)2025.02 | 71 | — | 87 | 71 | 50 | |
| V2X-ViTTrain Data=TYP (ours)2025.02 | 65 | — | 84 | 65 | 40 | |
| Late FusionTrain Data=gt (oracle)2025.02 | 55 | — | 74 | 57 | 36 | |
| Late FusionTrain Data=TYP (ours)2025.02 | 50 | — | 71 | 49 | 32 | |
| Early FusionTrain Data=gt (oracle)2025.02 | 49 | — | 76 | 42 | 31 | |
| Early FusionTrain Data=TYP (ours)2025.02 | 46 | — | 75 | 38 | 29 | |
| No FusionTrain Data=ego's gt only2025.02 | 40 | — | 67 | 41 | 13 |