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Table 5 CenterTransFuser model in nuScenes test set object classification detection results

From: CenterTransFuser: radar point cloud and visual information fusion for 3D object detection

Baseline

Cro-trans

DT

Filter

DF

Car

Truck

Bus

Traier

Const

Pedest

Motor

Bicycle

Traff

Barrier

✓

    

0.508

0.232

0.310

0.132

0.046

0.373

0.273

0.213

0.535

0.459

✓

✓

   

0.523

0.257

0.319

0.232

0.055

0.401

0.354

0.215

0.581

0.470

✓

 

✓

  

0.496

0.241

0.296

0.159

0.032

0.389

0.295

0.201

0.545

0.457

✓

 

✓

✓

 

0.510

0.242

0.308

0.176

0.036

0.401

0.337

0.206

0.576

0.460

✓

✓

✓

✓

✓

0.535

0.278

0.328

0.243

0.065

0.422

0.387

0.217

0.601

0.476