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collaborative-perception
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- Epoch: 19 | AP @0.3: 0.9035 | AP @0.5: 0.8866 | AP @0.7: 0.7485 | comm_rate: 0.035714 | comm_volume_MB: 1.0 |# 102.4,102.4 | # pos_std=0.1_rot_std=0.1_pos_mean=0.0_rot_mean=0.0
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- Epoch: 19 | AP @0.3: 0.8976 | AP @0.5: 0.8549 | AP @0.7: 0.6654 | comm_rate: 0.035714 | comm_volume_MB: 1.0 |# 102.4,102.4 | # pos_std=0.2_rot_std=0.2_pos_mean=0.0_rot_mean=0.0
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- Epoch: 19 | AP @0.3: 0.8813 | AP @0.5: 0.8125 | AP @0.7: 0.5970 | comm_rate: 0.035714 | comm_volume_MB: 1.0 |# 102.4,102.4 | # pos_std=0.3_rot_std=0.3_pos_mean=0.0_rot_mean=0.0
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- Epoch: 19 | AP @0.3: 0.8556 | AP @0.5: 0.7715 | AP @0.7: 0.5459 | comm_rate: 0.035714 | comm_volume_MB: 1.0 |# 102.4,102.4 | # pos_std=0.4_rot_std=0.4_pos_mean=0.0_rot_mean=0.0
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- Epoch: 19 | AP @0.3: 0.8232 | AP @0.5: 0.7297 | AP @0.7: 0.5077 | comm_rate: 0.035714 | comm_volume_MB: 1.0 |# 102.4,102.4 | # pos_std=0.5_rot_std=0.5_pos_mean=0.0_rot_mean=0.0
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- Epoch: 19 | AP @0.3: 0.7928 | AP @0.5: 0.6952 | AP @0.7: 0.4794 | comm_rate: 0.035714 | comm_volume_MB: 1.0 |# 102.4,102.4 | # pos_std=0.6_rot_std=0.6_pos_mean=0.0_rot_mean=0.0
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- Epoch: 19 | AP @0.3: 0.6657 | AP @0.5: 0.6206 | AP @0.7: 0.5076 | comm_rate: 1.000000 | comm_volume_MB: 100.0 |# 102.4,102.4 | # no_noise | delay500ms
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- ################下面是正确的comm_volume_MB计算方法
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- Epoch: 19 | AP @0.3: 0.9068 | AP @0.5: 0.8944 | AP @0.7: 0.7871 | comm_rate: 0.035714 | comm_volume_MB: 1.0 |# 102.4,102.4 | # no_noise | no_delay
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- Epoch: 19 | AP @0.3: 0.8945 | AP @0.5: 0.8828 | AP @0.7: 0.7814 | comm_rate: 0.017857 | comm_volume_MB: 0.5 |# 102.4,102.4 | # no_noise | no_delay
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- Epoch: 19 | AP @0.3: 0.8715 | AP @0.5: 0.8586 | AP @0.7: 0.7543 | comm_rate: 0.008929 | comm_volume_MB: 0.25 |# 102.4,102.4 | # no_noise | no_delay
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- Epoch: 19 | AP @0.3: 0.8329 | AP @0.5: 0.8182 | AP @0.7: 0.7099 | comm_rate: 0.004464 | comm_volume_MB: 0.125 |# 102.4,102.4 | # no_noise | no_delay
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- Epoch: 19 | AP @0.3: 0.8104 | AP @0.5: 0.7925 | AP @0.7: 0.6806 | comm_rate: 0.002232 | comm_volume_MB: 0.0625 |# 102.4,102.4 | # no_noise | no_delay
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- Epoch: 19 | AP @0.3: 0.7888 | AP @0.5: 0.7665 | AP @0.7: 0.6498 | comm_rate: 0.001116 | comm_volume_MB: 0.03125 |# 102.4,102.4 | # no_noise | no_delay
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- Epoch: 19 | AP @0.3: 0.7675 | AP @0.5: 0.7438 | AP @0.7: 0.6217 | comm_rate: 0.000558 | comm_volume_MB: 0.015625 |# 102.4,102.4 | # no_noise | no_delay
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- Epoch: 19 | AP @0.3: 0.7518 | AP @0.5: 0.7272 | AP @0.7: 0.6009 | comm_rate: 0.000279 | comm_volume_MB: 0.007812 |# 102.4,102.4 | # no_noise | no_delay
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- Epoch: 19 | AP @0.3: 0.7447 | AP @0.5: 0.7188 | AP @0.7: 0.5881 | comm_rate: 0.000140 | comm_volume_MB: 0.003906 |# 102.4,102.4 | # no_noise | no_delay
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- Epoch: 19 | AP @0.3: 0.7364 | AP @0.5: 0.7089 | AP @0.7: 0.5734 | comm_rate: 0.000000 | comm_volume_MB: 0.0 |# 102.4,102.4 | # no_noise | no_delay
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- Epoch: 19 | AP @0.3: 0.9061 | AP @0.5: 0.8887 | AP @0.7: 0.7486 | comm_rate: 0.035714 | comm_volume_MB: 1.0 |# 102.4,102.4 | # pos_std=0.1_rot_std=0.1_pos_mean=0.0_rot_mean=0.0no_delay
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- Epoch: 19 | AP @0.3: 0.9004 | AP @0.5: 0.8598 | AP @0.7: 0.6729 | comm_rate: 0.035714 | comm_volume_MB: 1.0 |# 102.4,102.4 | # pos_std=0.2_rot_std=0.2_pos_mean=0.0_rot_mean=0.0no_delay
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- Epoch: 19 | AP @0.3: 0.8845 | AP @0.5: 0.8175 | AP @0.7: 0.6005 | comm_rate: 0.035714 | comm_volume_MB: 1.0 |# 102.4,102.4 | # pos_std=0.3_rot_std=0.3_pos_mean=0.0_rot_mean=0.0no_delay
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- Epoch: 19 | AP @0.3: 0.8533 | AP @0.5: 0.7650 | AP @0.7: 0.5441 | comm_rate: 0.035714 | comm_volume_MB: 1.0 |# 102.4,102.4 | # pos_std=0.4_rot_std=0.4_pos_mean=0.0_rot_mean=0.0no_delay
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- Epoch: 19 | AP @0.3: 0.8179 | AP @0.5: 0.7264 | AP @0.7: 0.5078 | comm_rate: 0.035714 | comm_volume_MB: 1.0 |# 102.4,102.4 | # pos_std=0.5_rot_std=0.5_pos_mean=0.0_rot_mean=0.0no_delay
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- Epoch: 19 | AP @0.3: 0.7946 | AP @0.5: 0.6961 | AP @0.7: 0.4809 | comm_rate: 0.035714 | comm_volume_MB: 1.0 |# 102.4,102.4 | # pos_std=0.6_rot_std=0.6_pos_mean=0.0_rot_mean=0.0no_delay
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- Epoch: 19 | AP @0.3: 0.9057 | AP @0.5: 0.8887 | AP @0.7: 0.7496 | comm_rate: 0.035714 | comm_volume_MB: 1.0 |# 102.4,102.4 | # pos_std=0.1_rot_std=0.1_pos_mean=0.0_rot_mean=0.0no_delay
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- Epoch: 19 | AP @0.3: 0.9008 | AP @0.5: 0.8599 | AP @0.7: 0.6759 | comm_rate: 0.035714 | comm_volume_MB: 1.0 |# 102.4,102.4 | # pos_std=0.2_rot_std=0.2_pos_mean=0.0_rot_mean=0.0no_delay
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- Epoch: 19 | AP @0.3: 0.8832 | AP @0.5: 0.8168 | AP @0.7: 0.6021 | comm_rate: 0.035714 | comm_volume_MB: 1.0 |# 102.4,102.4 | # pos_std=0.3_rot_std=0.3_pos_mean=0.0_rot_mean=0.0no_delay
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- Epoch: 19 | AP @0.3: 0.8570 | AP @0.5: 0.7691 | AP @0.7: 0.5440 | comm_rate: 0.035714 | comm_volume_MB: 1.0 |# 102.4,102.4 | # pos_std=0.4_rot_std=0.4_pos_mean=0.0_rot_mean=0.0no_delay
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- Epoch: 19 | AP @0.3: 0.8221 | AP @0.5: 0.7270 | AP @0.7: 0.5114 | comm_rate: 0.035714 | comm_volume_MB: 1.0 |# 102.4,102.4 | # pos_std=0.5_rot_std=0.5_pos_mean=0.0_rot_mean=0.0no_delay
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- Epoch: 19 | AP @0.3: 0.7916 | AP @0.5: 0.6968 | AP @0.7: 0.4807 | comm_rate: 0.035714 | comm_volume_MB: 1.0 |# 102.4,102.4 | # pos_std=0.6_rot_std=0.6_pos_mean=0.0_rot_mean=0.0no_delay
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- ###################以上是将ego也添加了noise的结果
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- Epoch: 19 | AP @0.3: 0.9064 | AP @0.5: 0.8926 | AP @0.7: 0.7756 | comm_rate: 0.035714 | comm_volume_MB: 1.0 |# 102.4,102.4 | # pos_std=0.1_rot_std=0.1_pos_mean=0.0_rot_mean=0.0no_delay | time_av: 0.1365
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- Epoch: 19 | AP @0.3: 0.9054 | AP @0.5: 0.8862 | AP @0.7: 0.7431 | comm_rate: 0.035714 | comm_volume_MB: 1.0 |# 102.4,102.4 | # pos_std=0.2_rot_std=0.2_pos_mean=0.0_rot_mean=0.0no_delay | time_av: 0.1446
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- Epoch: 19 | AP @0.3: 0.9023 | AP @0.5: 0.8712 | AP @0.7: 0.6942 | comm_rate: 0.035714 | comm_volume_MB: 1.0 |# 102.4,102.4 | # pos_std=0.3_rot_std=0.3_pos_mean=0.0_rot_mean=0.0no_delay | time_av: 0.1318
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- Epoch: 19 | AP @0.3: 0.8960 | AP @0.5: 0.8509 | AP @0.7: 0.6498 | comm_rate: 0.035714 | comm_volume_MB: 1.0 |# 102.4,102.4 | # pos_std=0.4_rot_std=0.4_pos_mean=0.0_rot_mean=0.0no_delay | time_av: 0.1311
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- Epoch: 19 | AP @0.3: 0.8871 | AP @0.5: 0.8249 | AP @0.7: 0.6102 | comm_rate: 0.035714 | comm_volume_MB: 1.0 |# 102.4,102.4 | # pos_std=0.5_rot_std=0.5_pos_mean=0.0_rot_mean=0.0no_delay | time_av: 0.1306
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- Epoch: 19 | AP @0.3: 0.8699 | AP @0.5: 0.7914 | AP @0.7: 0.5718 | comm_rate: 0.035714 | comm_volume_MB: 1.0 |# 102.4,102.4 | # pos_std=0.6_rot_std=0.6_pos_mean=0.0_rot_mean=0.0no_delay | time_av: 0.1288
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- Epoch: 19 | AP @0.3: 0.9037 | AP @0.5: 0.8692 | AP @0.7: 0.6736 | comm_rate: 0.035714 | comm_volume_MB: 1.0 |# 102.4,102.4 | # no_noise | delay100ms | time_av: 0.1111
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- Epoch: 19 | AP @0.3: 0.8669 | AP @0.5: 0.7734 | AP @0.7: 0.5596 | comm_rate: 0.035714 | comm_volume_MB: 1.0 |# 102.4,102.4 | # no_noise | delay200ms | time_av: 0.1120
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- Epoch: 19 | AP @0.3: 0.7869 | AP @0.5: 0.6969 | AP @0.7: 0.5335 | comm_rate: 0.035714 | comm_volume_MB: 1.0 |# 102.4,102.4 | # no_noise | delay300ms | time_av: 0.1167
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- Epoch: 19 | AP @0.3: 0.7251 | AP @0.5: 0.6644 | AP @0.7: 0.5273 | comm_rate: 0.035714 | comm_volume_MB: 1.0 |# 102.4,102.4 | # no_noise | delay400ms | time_av: 0.1238
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- Epoch: 19 | AP @0.3: 0.6970 | AP @0.5: 0.6513 | AP @0.7: 0.5305 | comm_rate: 0.035714 | comm_volume_MB: 1.0 |# 102.4,102.4 | # no_noise | delay500ms | time_av: 0.1306
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- #####################下面是又优化切换后的comm_volume_MB计算方法
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- Epoch: 19 | AP @0.3: 0.9013 | AP @0.5: 0.8670 | AP @0.7: 0.6718 | comm_rate: 0.035714 | comm_volume_MB: 1.0 |# 102.4,102.4 | # no_noise | delay100ms | time_av: 0.1104
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- Epoch: 19 | AP @0.3: 0.8632 | AP @0.5: 0.7693 | AP @0.7: 0.5574 | comm_rate: 0.035714 | comm_volume_MB: 1.0 |# 102.4,102.4 | # no_noise | delay200ms | time_av: 0.1108
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- Epoch: 19 | AP @0.3: 0.7807 | AP @0.5: 0.6905 | AP @0.7: 0.5290 | comm_rate: 0.035714 | comm_volume_MB: 1.0 |# 102.4,102.4 | # no_noise | delay300ms | time_av: 0.1145
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- Epoch: 19 | AP @0.3: 0.7148 | AP @0.5: 0.6543 | AP @0.7: 0.5205 | comm_rate: 0.035714 | comm_volume_MB: 1.0 |# 102.4,102.4 | # no_noise | delay400ms | time_av: 0.1209
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- Epoch: 19 | AP @0.3: 0.6840 | AP @0.5: 0.6378 | AP @0.7: 0.5204 | comm_rate: 0.035714 | comm_volume_MB: 1.0 |# 102.4,102.4 | # no_noise | delay500ms | time_av: 0.1241
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- Epoch: 19 | AP @0.3: 0.9039 | AP @0.5: 0.8913 | AP @0.7: 0.7860 | comm_rate: 0.035714 | comm_volume_MB: 1.0 |# 102.4,102.4 | # no_noise | no_delay | time_av: 0.1091
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- #############history_num###########
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- history_num 5: Epoch: 19 | AP @0.3: 0.9040 | AP @0.5: 0.8914 | AP @0.7: 0.7862 | comm_rate: 0.035714 | comm_volume_MB: 1.0 |# 102.4,102.4 | # no_noise | no_delay | time_av: 0.1088
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- history_num 1: Epoch: 19 | AP @0.3: 0.9040 | AP @0.5: 0.8914 | AP @0.7: 0.7862 | comm_rate: 0.035714 | comm_volume_MB: 1.0 |# 102.4,102.4 | # no_noise | no_delay | time_av: 0.1097
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- Epoch: 19 | AP @0.3: 0.9040 | AP @0.5: 0.8914 | AP @0.7: 0.7862 | comm_rate: 0.035714 | comm_volume_MB: 1.0 |# 102.4,102.4 | # no_noise | no_delay | time_av: 0.1092
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- Epoch: 19 | AP @0.3: 0.9052 | AP @0.5: 0.8928 | AP @0.7: 0.7866 | comm_rate: 0.214286 | comm_volume_MB: 6.0 |# 102.4,102.4 | # no_noise | no_delay | time_av: 0.2742
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- Epoch: 19 | AP @0.3: 0.9049 | AP @0.5: 0.8924 | AP @0.7: 0.7867 | comm_rate: 0.042857 | comm_volume_MB: 1.2 |# 102.4,102.4 | # no_noise | no_delay | time_av: 0.3124
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- Epoch: 19 | AP @0.3: 0.9056 | AP @0.5: 0.8931 | AP @0.7: 0.7870 | comm_rate: 0.100000 | comm_volume_MB: 2.8 |# 102.4,102.4 | # no_noise | no_delay | time_av: 0.3146
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- Epoch: 19 | AP @0.3: 0.9012 | AP @0.5: 0.8888 | AP @0.7: 0.7837 | comm_rate: 0.020000 | comm_volume_MB: 0.56 |# 102.4,102.4 | # no_noise | no_delay | time_av: 0.3168
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- Epoch: 19 | AP @0.3: 0.8909 | AP @0.5: 0.8774 | AP @0.7: 0.7721 | comm_rate: 0.007857 | comm_volume_MB: 0.22 |# 102.4,102.4 | # no_noise | no_delay | time_av: 0.3052
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- Epoch: 19 | AP @0.3: 0.8791 | AP @0.5: 0.8639 | AP @0.7: 0.7521 | comm_rate: 0.003929 | comm_volume_MB: 0.11 |# 102.4,102.4 | # no_noise | no_delay | time_av: 0.2955
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- Epoch: 19 | AP @0.3: 0.9038 | AP @0.5: 0.8912 | AP @0.7: 0.7862 | comm_rate: 0.033214 | comm_volume_MB: 0.93 |# 102.4,102.4 | # no_noise | no_delay | time_av: 0.3094
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- Epoch: 19 | AP @0.3: 0.8890 | AP @0.5: 0.8757 | AP @0.7: 0.7684 | comm_rate: 0.006786 | comm_volume_MB: 0.19 |# 102.4,102.4 | # no_noise | no_delay | time_av: 0.2981
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- Epoch: 19 | AP @0.3: 0.9012 | AP @0.5: 0.8892 | AP @0.7: 0.7843 | comm_rate: 0.016786 | comm_volume_MB: 0.47 |# 102.4,102.4 | # no_noise | no_delay | time_av: 0.2741
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- Epoch: 19 | AP @0.3: 0.8863 | AP @0.5: 0.8742 | AP @0.7: 0.7670 | comm_rate: 0.007857 | comm_volume_MB: 0.22 |# 102.4,102.4 | # no_noise | no_delay | time_av: 0.3225
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- Epoch: 19 | AP @0.3: 0.9080 | AP @0.5: 0.8955 | AP @0.7: 0.7879 | comm_rate: 0.100000 | comm_volume_MB: 2.8 |# 102.4,102.4 | # no_noise | no_delay | time_av: 0.3338
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- Epoch: 19 | AP @0.3: 0.9074 | AP @0.5: 0.8948 | AP @0.7: 0.7873 | comm_rate: 0.214286 | comm_volume_MB: 6.0 |# 102.4,102.4 | # no_noise | no_delay | time_av: 0.3176
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- Epoch: 19 | AP @0.3: 0.8824 | AP @0.5: 0.8701 | AP @0.7: 0.7607 | comm_rate: 0.006786 | comm_volume_MB: 0.19 |# 102.4,102.4 | # no_noise | no_delay | time_av: 0.3196
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- Epoch: 19 | AP @0.3: 0.9029 | AP @0.5: 0.8908 | AP @0.7: 0.7847 | comm_rate: 0.020000 | comm_volume_MB: 0.56 |# 102.4,102.4 | # no_noise | no_delay | time_av: 0.3316
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- Epoch: 19 | AP @0.3: 0.9077 | AP @0.5: 0.8952 | AP @0.7: 0.7875 | comm_rate: 0.042857 | comm_volume_MB: 1.2 |# 102.4,102.4 | # no_noise | no_delay | time_av: 0.3286
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- Epoch: 19 | AP @0.3: 0.8598 | AP @0.5: 0.8450 | AP @0.7: 0.7272 | comm_rate: 0.003929 | comm_volume_MB: 0.11 |# 102.4,102.4 | # no_noise | no_delay | time_av: 0.1614
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- Epoch: 19 | AP @0.3: 0.9069 | AP @0.5: 0.8942 | AP @0.7: 0.7871 | comm_rate: 0.033214 | comm_volume_MB: 0.93 |# 102.4,102.4 | # no_noise | no_delay | time_av: 0.1756
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- Epoch: 19 | AP @0.3: 0.9012 | AP @0.5: 0.8892 | AP @0.7: 0.7842 | comm_rate: 0.016786 | comm_volume_MB: 0.47 |# 102.4,102.4 | # no_noise | no_delay | time_av: 0.1703
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- no-fusion:Epoch: 19 | AP @0.3: 0.7351 | AP @0.5: 0.7075 | AP @0.7: 0.5713 | comm_rate: 0.000000 |# 102.4,102.4 | # no_noise | no_delay