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Table 1 Comparison of single modal and different fusion operations on the Complex KITTI dataset

From: Adaptive Multi-modal Fusion Instance Segmentation for CAEVs in Complex Conditions: Dataset, Framework and Verifications

Input Approach AP AP50 AP75
RGB Single modal 24.74 39.76 27.16
DDM Single modal 24.39 41.42 27.27
RGB + DDM Sum fusion [44] 25.22 43.09 27.85
RGB + DDM Maximum fusion [57] 25.69 43.02 28.83
RGB + DDM Sharpening fusion [19] 26.97 45.55 29.21
RGB + DDM MoE + Sum fusion [12] 26.96 44.74 29.50
RGB + DDM MoE + Maximum fusion 27.54 45.69 30.65
RGB + DDM MoE + Sharpening fusion (ours) 29.76 49.36 32.07