notesum.ai
Published at November 29SpaRC: Sparse Radar-Camera Fusion for 3D Object Detection
cs.CV
cs.LG
Released Date: November 29, 2024
Authors: Philipp Wolters1, Johannes Gilg1, Torben Teepe1, Fabian Herzog1, Felix Fent1, Gerhard Rigoll1
Aff.: 1Technical University of Munich

| Methods | Input | Backbone | NDS | mAP |
|---|---|---|---|---|
| PointPillars [28] | L | Pillars | 55.0 | 40.1 |
| CenterPoint [77] | L | Voxel | 67.3 | 60.3 |
| KPConvPillars [61] | R | Pillars | 13.9 | 4.9 |
| RadarDistill [3] | R | Pillars | 43.7 | 20.5 |
| CenterFusion [52] | C+R | DLA34 | 44.9 | 32.6 |
| MVFusion [71] | C+R | V2-99 | 51.7 | 45.3 |
| CRAFT [25] | C+R | DLA34 | 52.3 | 41.1 |
| BEVDepth [34] | C | ConvNeXt-B | 60.9 | 52.0 |
| SOLOFusion [55] | C | ConvNeXt-B | 61.9 | 54.0 |
| BEVFormerV2 [74] | C | InternImage-B | 62.0 | 54.0 |
| CRN [26] | C+R | ConvNeXt-B | 62.4 | 57.5 |
| StreamPETR [63] | C | V2-99 | 63.6 | 55.0 |
| SparseBEV [44] | C | V2-99 | 63.6 | 55.6 |
| RCBEVDet [42] | C+R | V2-99 | 63.9 | 55.0 |
| HyDRa [42] | C+R | V2-99 | 64.2 | 57.4 |
| \gradientRGBSpaRC244,33,19354,67,153 | C+R | V2-99 | 67.1 | 60.0 |