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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