Noise-aware training plus confidence encoding lets object-level V2X fusion raise 3D detection to NDS 0.80 on nuScenes while preserving gains under realistic noise, dropout, and low penetration.
nuscenes: A multimodal dataset for autonomous driving,
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Robust Fusion of Object-Level V2X for Learned 3D Object Detection
Noise-aware training plus confidence encoding lets object-level V2X fusion raise 3D detection to NDS 0.80 on nuScenes while preserving gains under realistic noise, dropout, and low penetration.