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Table 2 Comparison of different fusion stages on the complex KITTI dataset

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

Fusion Stage

AP

AP50

AP75

Early fusion [43]

16.69

30.30

17.96

Late fusion [44]

24.79

39.02

28.73

Middle fusion at backbone

28.21

46.86

30.75

Middle fusion at FPN (ours)

29.76

49.36

32.07