Fig. 3From: CenterTransFuser: radar point cloud and visual information fusion for 3D object detectionSpatial information enhancement and the filtering effect. The first column presents the effect of mapping radar points to the image; the second column presents the spatial information enhancement of radar points; the third column presents the effect of mapping radar points to the image using the depth information after baseline spatial information enhancement; the fourth column presents the effect after depth filteringBack to article page