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V2X-Real

Benchmarks

Task NameDataset NameSOTA ResultTrend
3D Object DetectionV2X-Real EGO+AUX1 1.0 (seen-pair)
mAP@0.552.5
80
3D Object DetectionV2X-Real EGO+AUX2 (unseen evaluation)
mAP@0.549.9
80
3D Object DetectionV2X-Real EGO+AUX2 zero-shot 128-beam LiDAR
mAP@0.552
52
3D Object DetectionV2X-Real (test)
Vehicle AP@0.391.3
18
Cooperative 3D Object DetectionV2X-Real (EGO+AUX1)
E2E mAP@0.554.3
16
Object DetectionV2X-Real EGO+AUX2 unseen adaptation 1.0 (test)
E2E mAP@0.547.9
16
3D Object DetectionV2X-Real Gaussian Pose Noise σ = 0.4 (test)
AP@0.3 (Vehicle)84.27
16
3D Object DetectionV2X-Real
mAP@0.354.04
15
Novel View SynthesisV2X-Real Dynamic-only
PSNR25.93
9
Novel View SynthesisV2X-Real Full image
PSNR25.89
9
3D Object DetectionV2X-Real Infrastructure-Centric
Car AP@0.386.7
9
3D Object DetectionV2X-Real Vehicle-Centric
Car AP@0.391.5
9
3D Object DetectionV2X-Real Ideal Setting (No Noise) (test)
AP@0.3 (Vehicle)89.63
8
3D Object DetectionV2X-Real Ideal Setting
AP@0.3 (Vehicle)89.63
8
3D Object DetectionV2X-Real Gaussian Pose Noise σ = 0.4
AP@0.3 (vehicle)84.27
8
3D Object DetectionV2X-Real Ideal Setting (test)
AP@0.3 (Vehicle)89.63
8
Collaborative 3D Object DetectionV2X-Real
mAP30 (Overall)46.02
6
3D Object DetectionV2X-Real 25
AP@0.340.1
6
Collaborative Object DetectionV2X-Real Jointly Observed
mAP@0.347.85
5
Collaborative Object DetectionV2X-Real Overall
mAP@0.338.6
5
Driving Scene GenerationV2X-Real
CLIP Similarity83.6
5
Collaborative 3D Object DetectionV2X-Real (val)
mAP@0.311.48
5
Future Ego-View ExtrapolationV2X-Real (test)
Full Image PSNR21.47
4
Driving Scene GenerationV2X-Real (val)
FID17.46
4
Novel View SynthesisV2X-Real Blind-Spot
NIQE3.949
3
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