notesum.ai

Published at November 29

SpaRC: 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

Arxiv: http://arxiv.org/pdf/2411.19860v1

Refer to caption

Methods	Input	Backbone	NDS $\uparrow$	mAP $\uparrow$
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