Table 8 Ablation study on fusion strategy and dynamic switching using all three modalities (Camera + LiDAR + Radar) on the nuScenes validation set.

From: FDSNet: dynamic multimodal fusion stage selection for autonomous driving via feature disagreement scoring

Fusion strategy

Switching mode

NDS \(\uparrow\)

mAP \(\uparrow\)

mATE \(\downarrow\)

mASE \(\downarrow\)

mAOE \(\downarrow\)

mAVE \(\downarrow\)

mAAE \(\downarrow\)

Mid-Fusion

Fixed

75.4

73.2

0.404

0.226

0.289

0.252

0.118

Late-Fusion

Fixed

76.5

74.3

0.395

0.223

0.281

0.238

0.112

FDSNet (Ours)

Dynamic

78.1

75.9

0.385

0.219

0.275

0.229

0.105

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