ConFusion reaches 59.1 mAP and 65.6 NDS on nuScenes validation by combining heterogeneous queries with QMix cross-attention and QSwap feature exchange.
Futr3d: A unified sensor fusion framework for 3d detection
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Control Your Queries: Heterogeneous Query Interaction for Camera-Radar Fusion
ConFusion reaches 59.1 mAP and 65.6 NDS on nuScenes validation by combining heterogeneous queries with QMix cross-attention and QSwap feature exchange.