wjy199708 / AFMF

Anchor-free 3D Object Detection using Multimodal Fusion

Overall structure diagram of the method

Method of ablation experiment results

Method					Modality		3D Detection(Car)			Metric
Baseline	BEV_Res	MMF	k=5	k=1	C	L	Easy	Mod	Hard	IoU
√					√		50.01	40.35	32.01	0.5
√					√		18.13	14.63	13.89	0.7
√						√	-	-	-	0.5
√						√	57.23	55.16	44.23	0.7
√		√		√	√	√	-	-	-	0.7
√	√	√		√	√	√	73.12	64.64	58.88	0.7
√		√	√		√	√	72.51	62.01	56.32	0.7
√	√	√	√		√	√	74.28	63.55	58.61	0.7