Cooperative Perception on OPV2V (AP Metrics)
96.3AP@30HEAL
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| HEALEgo=PP, Collaborator=homo. coop2026.05 | 96.3 | 95.6 | 89.8 | — | |
| HEALEgo=SECOND, Collaborator=homo. coop2026.05 | 95.7 | 94.5 | 85.6 | — | |
| BOLTEgo=PP, Collaborator=LSS-E, Plugin=w/ Plugin2026.05 | 86.8 | 84.8 | 72 | 13.5 | |
| BOLTEgo=PP, Collaborator=LSS-R50, Plugin=w/ Plugin2026.05 | 86.8 | 84.9 | 71.8 | 22.2 | |
| BOLTEgo=SECOND, Collaborator=LSS-R50, Plugin=w/ Plugin2026.05 | 85.2 | 83.1 | 70.1 | 12.4 | |
| BOLTEgo=SECOND, Collaborator=LSS-E, Plugin=w/ Plugin2026.05 | 85 | 83.1 | 70.1 | 13.1 | |
| BOLTEgo=PP, Collaborator=SECOND, Plugin=w/ Plugin2026.05 | 84.5 | 83 | 71.3 | 18.1 | |
| BOLTEgo=SECOND, Collaborator=PP, Plugin=w/ Plugin2026.05 | 82.5 | 79.8 | 66.5 | 32.3 | |
| SECOND (ego-only)Ego=SECOND, Collaborator=ego-only2026.05 | 79 | 77.8 | 70.5 | — | |
| PP (ego-only)Ego=PP, Collaborator=ego-only2026.05 | 78.2 | 76.5 | 65.1 | — | |
| PyramidFusionEgo=PP, Collaborator=LSS-E, Plugin=w/o Plugin2026.05 | 72.5 | 71.3 | 62.1 | — | |
| PyramidFusionEgo=SECOND, Collaborator=LSS-R50, Plugin=w/o Plugin2026.05 | 71.7 | 70.8 | 63.6 | — | |
| PyramidFusionEgo=SECOND, Collaborator=LSS-E, Plugin=w/o Plugin2026.05 | 70.7 | 70 | 65.2 | — | |
| PyramidFusionEgo=PP, Collaborator=SECOND, Plugin=w/o Plugin2026.05 | 65.5 | 64.9 | 55.1 | — | |
| PyramidFusionEgo=PP, Collaborator=LSS-R50, Plugin=w/o Plugin2026.05 | 63.8 | 62.7 | 54.3 | — | |
| PyramidFusionEgo=SECOND, Collaborator=PP, Plugin=w/o Plugin2026.05 | 47.6 | 47.5 | 45.8 | — |