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junjie18 / CMT

[ICCV 2023] Cross Modal Transformer: Towards Fast and Robust 3D Object Detection
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Can CMT work with radar data instead of Lidar？ #84

Open yyunyu opened 8 months ago

yyunyu commented 8 months ago

Do you tried using this fusion mechanism on radar data? @junjie18

Looking at the fusion mechanism of CMT, it does not seem to be suitable for radar and camera fusion.

junjie18 commented 8 months ago

@yyunyu From the method pespective, it can. But you should spent time making balance on radar and camera since the number of radar points is so small.

yyunyu commented 8 months ago

Thanks for your reply！ @junjie18 I tried radar data and found that the network is heavily affected by sparse radar data/features, so I think that concatenate fusion operation in the case of using radar data would allow the image features to go into higher dimensions that makes features are more irrationally distributed in this space. I see, then I will focus on making balance on radar and camera.