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The details of BEV Fusion Encoder. Discretizing three-dimensional space into uniformly distributed points, project these points onto a multiscale feature map, and sample the points that fall into the feature map. In addition, the distance of these points from the radar point is calculated, and each point is sampled for the closest radar feature.
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In autonomous driving, the fusion of multiple sensors is considered essential to improve the accuracy and safety of 3D object detection. Currently, a fusion scheme combining low-cost cameras with highly robust radars can counteract the performance degradation caused by harsh environments. In this paper, we propose the IRBEVF-Q model, which mainly c...
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