Table 10 Per-class 3D detection results (mAP, NDS) for FDSNet under different sensor configurations on the nuScenes validation set.
FDSNet Configuration | Input | Car | Truck | Bus | Trailer | Constr. | Ped. | Motor | Bicycle | Traf. | Barrier | mAP | NDS\(\uparrow\) |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
C+R | C+R | 81.2 | 55.3 | 33.1 | 61.4 | 57.9 | 68.2 | 51.7 | 32.8 | 84.1 | 77.6 | 47.9 | 58.2 |
C+L | C+L | 88.5 | 63.1 | 38.9 | 74.6 | 67.8 | 79.1 | 82.5 | 59.8 | 89.4 | 88.7 | 74.4 | 76.5 |
C+L+R | C+L+R | 89.8 | 67.8 | 44.5 | 77.6 | 68.3 | 81.8 | 85.3 | 65.6 | 93.4 | 91.1 | 75.9 | 78.1 |
