基于双流特征提取的车路协同感知方法

牛国臣, 孙翔宇, 苑峥岩

Vehicle-Road Collaborative Perception Method Based on Dual-Stream Feature Extraction

NIU Guochen, SUN Xiangyu, YUAN Zhengyan

表3 本文方法与其他协同感知方法的对比结果

Tab.3 Comparison results between method proposed and other collaborative perception methods

方法 AP50/% AP70/% C No Collaboration 50.03 43.57 0.00 Late Fusion 53.12 37.88 11.45 When2com 51.12 36.17 22.62 V2VNet 56.01 42.25 24.21 V2X-ViT 54.26 43.35 22.62 DiscoNet 54.29 44.88 22.62 Where2comm 63.54 48.78 20.56 本文方法 67.67 53.74 20.56