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