Cooperative Perception on DAIR-V2X (AP Metrics)
84.6AP@30HEAL
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| HEALEgo=SECOND, Collaborator=homo. coop2026.05 | 84.6 | 80.8 | 67.4 | — | |
| HEALEgo=PP, Collaborator=homo. coop2026.05 | 82.9 | 78.3 | 58.9 | — | |
| BOLTEgo=SECOND, Collaborator=PP, Plugin=w/ Plugin2026.05 | 72.9 | 68.5 | 52.5 | 6.2 | |
| BOLTEgo=PP, Collaborator=SECOND, Plugin=w/ Plugin2026.05 | 72.6 | 67.4 | 53.3 | 23.2 | |
| BOLTEgo=SECOND, Collaborator=LSS-R50, Plugin=w/ Plugin2026.05 | 70.8 | 66.9 | 52.6 | 4.4 | |
| BOLTEgo=SECOND, Collaborator=LSS-E, Plugin=w/ Plugin2026.05 | 69.5 | 66.2 | 53.1 | 5.3 | |
| BOLTEgo=PP, Collaborator=LSS-E, Plugin=w/ Plugin2026.05 | 69.2 | 66.5 | 55.1 | 10.3 | |
| BOLTEgo=PP, Collaborator=LSS-R50, Plugin=w/ Plugin2026.05 | 69.2 | 65.1 | 52.5 | 13.9 | |
| SECOND (ego-only)Ego=SECOND, Collaborator=ego-only2026.05 | 66.9 | 60.6 | 51.9 | — | |
| PyramidFusionEgo=SECOND, Collaborator=LSS-R50, Plugin=w/o Plugin2026.05 | 65.7 | 62.5 | 48.6 | — | |
| PyramidFusionEgo=SECOND, Collaborator=PP, Plugin=w/o Plugin2026.05 | 64.7 | 62.3 | 49.5 | — | |
| PP (ego-only)Ego=PP, Collaborator=ego-only2026.05 | 63.6 | 60 | 45.1 | — | |
| PyramidFusionEgo=SECOND, Collaborator=LSS-E, Plugin=w/o Plugin2026.05 | 63.4 | 60.9 | 48.1 | — | |
| PyramidFusionEgo=PP, Collaborator=LSS-E, Plugin=w/o Plugin2026.05 | 58.1 | 56.2 | 47.1 | — | |
| PyramidFusionEgo=PP, Collaborator=LSS-R50, Plugin=w/o Plugin2026.05 | 51.8 | 50.1 | 41.7 | — | |
| PyramidFusionEgo=PP, Collaborator=SECOND, Plugin=w/o Plugin2026.05 | 45.9 | 44.2 | 34.4 | — |