ATN3D introduces density-aware early fusion with cross-modal gating, occupancy-gated neighborhood aggregation, evidence-conditioned channel self-attention, and a range-aware loss, reporting mAP gains of +3.55% (clear) and +8.41% (fog) on VoD, with larger relative gains for objects >30m.
Reviewing 3d object detectors in the context of high-resolution 3+ 1d radar.arXiv preprint arXiv:2308.05478, 2023
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ATN3D: Density-Aware LiDAR-Radar Early 3D Object Detection Under Extreme Sparsity
ATN3D introduces density-aware early fusion with cross-modal gating, occupancy-gated neighborhood aggregation, evidence-conditioned channel self-attention, and a range-aware loss, reporting mAP gains of +3.55% (clear) and +8.41% (fog) on VoD, with larger relative gains for objects >30m.