# Cooperative Perception on OPV2V (AP Metrics) Source: [Cooperative Perception on OPV2V (AP Metrics)]() Collection index: [llms.txt]() Data updated: 2026-05-04T08:54:33.906Z Evaluation of Cooperative Perception performance on the OPV2V dataset, measured using Average Precision (AP) metrics at IoU thresholds of 30, 50, and 70, including the relative change in AP@50. A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. | Scope | Recorded value | | --- | --- | | Task | Cooperative Perception | | Dataset (including any stated split) | OPV2V | | Metric | AP@30 | | Unit | PERCENT | | Direction | Higher is better | | Results loaded | 16 of 16 | | Coverage | All results currently returned for this benchmark | Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol. ## Metrics - [AP@30](): Higher is better; unit: PERCENT. - [AP@50](): Higher is better; unit: PERCENT. - [AP@70](): Higher is better; unit: PERCENT. - [Relative Change in AP@50](): Higher is better; unit: SCALAR. ## Recorded results | Method | AP@30 | Result date | Report paper | | --- | --- | --- | --- | | HEAL | 96.3 | Not recorded | 69f82816c0f56ed843088ac6 | | HEAL | 95.7 | Not recorded | 69f82816c0f56ed843088ac6 | | BOLT | 86.8 | Not recorded | 69f82816c0f56ed843088ac6 | | BOLT | 86.8 | Not recorded | 69f82816c0f56ed843088ac6 | | BOLT | 85.2 | Not recorded | 69f82816c0f56ed843088ac6 | | BOLT | 85 | Not recorded | 69f82816c0f56ed843088ac6 | | BOLT | 84.5 | Not recorded | 69f82816c0f56ed843088ac6 | | BOLT | 82.5 | Not recorded | 69f82816c0f56ed843088ac6 | | SECOND (ego-only) | 79 | Not recorded | 69f82816c0f56ed843088ac6 | | PP (ego-only) | 78.2 | Not recorded | 69f82816c0f56ed843088ac6 | | PyramidFusion | 72.5 | Not recorded | 69f82816c0f56ed843088ac6 | | PyramidFusion | 71.7 | Not recorded | 69f82816c0f56ed843088ac6 | | PyramidFusion | 70.7 | Not recorded | 69f82816c0f56ed843088ac6 | | PyramidFusion | 65.5 | Not recorded | 69f82816c0f56ed843088ac6 | | PyramidFusion | 63.8 | Not recorded | 69f82816c0f56ed843088ac6 | | PyramidFusion | 47.6 | Not recorded | 69f82816c0f56ed843088ac6 | ### HEAL AP@30: 96.3. Result ID: 69f85e2247f34ce924dc320f. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ego":"PP","Collaborator":"homo. coop"}. This record does not assert independent reproduction. ### HEAL AP@30: 95.7. Result ID: 69f85e2247f34ce924dc3210. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ego":"SECOND","Collaborator":"homo. coop"}. This record does not assert independent reproduction. ### BOLT AP@30: 86.8. Result ID: 69f85e2247f34ce924dc3214. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ego":"PP","Collaborator":"LSS-E","Plugin":"w/ Plugin"}. This record does not assert independent reproduction. ### BOLT AP@30: 86.8. Result ID: 69f85e2247f34ce924dc3216. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ego":"PP","Collaborator":"LSS-R50","Plugin":"w/ Plugin"}. This record does not assert independent reproduction. ### BOLT AP@30: 85.2. Result ID: 69f85e2247f34ce924dc321c. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ego":"SECOND","Collaborator":"LSS-R50","Plugin":"w/ Plugin"}. This record does not assert independent reproduction. ### BOLT AP@30: 85. Result ID: 69f85e2247f34ce924dc321a. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ego":"SECOND","Collaborator":"LSS-E","Plugin":"w/ Plugin"}. This record does not assert independent reproduction. ### BOLT AP@30: 84.5. Result ID: 69f85e2247f34ce924dc3212. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ego":"PP","Collaborator":"SECOND","Plugin":"w/ Plugin"}. This record does not assert independent reproduction. ### BOLT AP@30: 82.5. Result ID: 69f85e2247f34ce924dc3218. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ego":"SECOND","Collaborator":"PP","Plugin":"w/ Plugin"}. This record does not assert independent reproduction. ### SECOND (ego-only) AP@30: 79. Result ID: 69f85e2247f34ce924dc320e. [Reporting paper]() Recorded evaluation configuration: {"Ego":"SECOND","Collaborator":"ego-only"}. This record does not assert independent reproduction. ### PP (ego-only) AP@30: 78.2. Result ID: 69f85e2247f34ce924dc320d. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Ego":"PP","Collaborator":"ego-only"}. This record does not assert independent reproduction. ### PyramidFusion AP@30: 72.5. Result ID: 69f85e2247f34ce924dc3213. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ego":"PP","Collaborator":"LSS-E","Plugin":"w/o Plugin"}. This record does not assert independent reproduction. ### PyramidFusion AP@30: 71.7. Result ID: 69f85e2247f34ce924dc321b. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ego":"SECOND","Collaborator":"LSS-R50","Plugin":"w/o Plugin"}. This record does not assert independent reproduction. ### PyramidFusion AP@30: 70.7. Result ID: 69f85e2247f34ce924dc3219. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ego":"SECOND","Collaborator":"LSS-E","Plugin":"w/o Plugin"}. This record does not assert independent reproduction. ### PyramidFusion AP@30: 65.5. Result ID: 69f85e2247f34ce924dc3211. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ego":"PP","Collaborator":"SECOND","Plugin":"w/o Plugin"}. This record does not assert independent reproduction. ### PyramidFusion AP@30: 63.8. Result ID: 69f85e2247f34ce924dc3215. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ego":"PP","Collaborator":"LSS-R50","Plugin":"w/o Plugin"}. This record does not assert independent reproduction. ### PyramidFusion AP@30: 47.6. Result ID: 69f85e2247f34ce924dc3217. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ego":"SECOND","Collaborator":"PP","Plugin":"w/o Plugin"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.