notesum.ai

Published at November 8

SimpleBEV: Improved LiDAR-Camera Fusion Architecture for 3D Object Detection

cs.CV

cs.AI

Released Date: November 8, 2024

Authors: Yun Zhao¹, Zhan Gong¹, Peiru Zheng¹, Hong Zhu¹, Shaohua Wu¹

Aff.: ¹IEIT

Arxiv: http://arxiv.org/abs/2411.05292v1

Refer to caption

Method	Mod.	mAP	NDS	Car	Truck	C.V.	Bus	T.L.	B.R.	M.T.	Bicycle	Ped.	T.C.
CenterPoint [40]	L	60.3	67.3	85.2	53.5	20.0	63.6	56.0	71.1	59.5	30.7	84.6	78.4
Focals Conv [4]	L	63.8	70.0	86.7	56.3	23.8	67.7	59.5	74.1	64.5	36.3	87.5	81.4
TransFusion-L [1]	L	65.5	70.2	86.2	56.7	28.2	66.3	58.8	78.2	68.3	44.2	86.1	82.0
PointAugmenting [34]†	LC	66.8	71.0	87.5	57.3	28.0	65.2	60.7	72.6	74.3	50.9	87.9	83.6
TransFusion [1]	LC	68.9	71.7	87.1	60.0	33.1	68.3	60.8	78.1	73.6	52.9	88.4	86.7
BEVFusion [16]	LC	69.2	71.8	88.1	60.9	34.4	69.3	62.1	78.2	72.2	52.2	89.2	85.5
BEVFusion [19]	LC	70.2	72.9	88.6	60.1	39.3	69.8	63.8	80.0	74.1	51.0	89.2	86.5
CMT [37]	LC	70.4	73.0	87.2	61.5	37.5	72.4	62.8	74.7	79.4	58.3	86.9	83.2
DeepInteraction [39]	LC	70.8	73.4	87.9	60.2	37.5	70.8	63.8	80.4	75.4	54.5	91.7	87.2
Focals Conv-F [4]†	LC	70.1	73.6	87.5	60.0	32.6	69.9	64.0	71.8	81.1	59.2	89.0	85.5
BEVFusion [19]§	LC	75.0	76.1	90.5	65.8	42.6	74.2	67.4	81.1	84.4	62.9	91.8	89.4
DeepInteraction [39]§	LC	75.6	76.3	88.3	64.3	44.7	74.2	66.0	83.5	85.4	66.4	92.5	90.9
SimpleBEV(ours)§	LC	75.7	77.6	89.0	69.2	44.4	75.2	70.5	78.4	81.2	69.1	91.7	87.9