{"paper":{"title":"CaR1: A Multi-Modal Baseline for BEV Vehicle Segmentation via Camera-Radar Fusion","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Angel Llamazares, Fabio S\\'anchez-Garc\\'ia, Luis M. Bergasa, Miguel Antunes-Garc\\'ia, Santiago Montiel-Mar\\'in","submitted_at":"2025-09-12T11:07:56Z","abstract_excerpt":"Camera-radar fusion offers a robust and cost-effective alternative to LiDAR-based autonomous driving systems by combining complementary sensing capabilities: cameras provide rich semantic cues but unreliable depth, while radar delivers sparse yet reliable position and motion information. We introduce CaR1, a novel camera-radar fusion architecture for BEV vehicle segmentation. Built upon BEVFusion, our approach incorporates a grid-wise radar encoding that discretizes point clouds into structured BEV features and an adaptive fusion mechanism that dynamically balances sensor contributions. Experi"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2509.10139","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2509.10139/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}