Table 4 Ablation experimental results of different components in the V2XSet and DAIR-V2X dataset.
Baseline | SparsePillar | SKD | DFAF | V2XSet AP \(\uparrow\) | DAIR-V2X AP \(\uparrow\) | ||
|---|---|---|---|---|---|---|---|
IoU = 0.5 | IoU = 0.7 | IoU = 0.5 | IoU = 0.7 | ||||
\(\checkmark\) | Â | Â | Â | 0.807 | 0.664 | 0.613 | 0.498 |
\(\checkmark\) | \(\checkmark\) | Â | Â | 0.864 | 0.754 | 0.662 | 0.534 |
\(\checkmark\) | Â | \(\checkmark\) | Â | 0.858 | 0.736 | 0.658 | 0.531 |
\(\checkmark\) | \(\checkmark\) | \(\checkmark\) | Â | 0.872 | 0.761 | 0.679 | 0.543 |
\(\checkmark\) | \(\checkmark\) | \(\checkmark\) | \(\checkmark\) | 0.877 | 0.770 | 0.695 | 0.563 |
