RCPerception

This repository is the paperlist on Perception Algorithms for Radar and Camera Fusion.

1. 3D Object Detection

The NDS and mAP are given in the nuScenes val.

Paper	Publication	Note	Code	Backbone	Image Size	NDS	mAP
CenterFusion	WACV2021	3D框与雷达点关联	pytorch	DAL34	450 $\times$ 800	0.453	0.332
ClusterFusion	IEEE Access	-	-	DLA34	448 $\times$ 800	0.490	0.347
CRAFT	AAAI2023	3D框与雷达点关联	-	DLA34	448 $\times$ 800	0.517	0.411
RADIANT	AAAI2023	3D框与雷达点关联	pytorch	R101	448 $\times$ 800	-	0.384
TransCAR	IROS2023	-	-	R101	-	0.464	0.355
RCBEV4d	TIV2023	特征级融合	-	Swin-T	256 $\times$ 704	0.497	0.381
RC-BEVFusion	GCPR2023	-	-	swin-T	256 $\times$ 704	0.525	0.434
MVFusion	ICRA2023	特征级融合	-	R50	256 $\times$ 704	0.402	0.330
CRN	ICCV2023	特征级融合	pytorch	R50	256 $\times$ 704	0.560	0.490
X3DK	CVPR2023	知识蒸馏	-	R50	256 $\times$ 704	0.538	0.423
RCM-Fusion	ICRA2024	-	-	R50	450 $\times$ 800	0.529	0.443
HVDetFusion	arxiv	-	pytorch	R50	256 $\times$ 704	0.451	0.557
RCBEVDet	CVPR2024	-	pytorch	R50	256 $\times$ 704	0.568	0.453
CRKD	CVPR2024	知识蒸馏	pytorch	R50	256 $\times$ 704	0.549	0.432
CR3DT	IROS2024	-	pytorch	R50	256 $\times$ 704	0.456	0.351
HyDRa	arxiv2403	-	-	R50	256 $\times$ 704	0.585	0.494
SpaRC	arxiv2411	-	-	R50	256 $\times$ 704	0.620	0.545
RCTrans	arxiv2412	-	-	R50	256 $\times$ 704	0.586	0.509

2. Depth Estimation

Paper	Publication	Note	Code
Depth Estimation from Camera Image and mmWave Radar Point Cloud	CVPR2023	-	pytorch