C2BN is a novel Camera-LiDAR fusion network. C2BN comprise two modules: Cross-Modality balance Network (CMN) utilizes cross-modality attention mechanisms to balance the importance and receptive field of two modalities. Cross-Scale balance Module (CSN) employs cross-scale attention mechanisms to reduce the imbalance in multi-level features.
C2BN (SECOND+TOOD) VS MVXNet:
new 40 recall points
Car: [email protected] [email protected] [email protected]
bev: AP: 94.01 / 92.29, 88.22 / 88.02, 85.66 / 85.65
3d: AP: 90.53 / 88.11, 79.07 / 78.44, 75.79 / 73.99
This will be update later.