# Cross-Dataset Experimental Study of Radar-Camera Fusion in Bird's-Eye View

arXiv: https://arxiv.org/abs/2309.15465 · HTML: https://mlsanity.com/paper/2309.15465/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 15 of its 19 references that are in the map.
- First posted on arXiv 27 Sep 2023.

## Builds on (most cited first, 15 of 15)

- [Swin Transformer: Hierarchical Vision Transformer using Shifted Windows](https://mlsanity.com/paper/2103.14030/) (2021)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [PointPillars: Fast Encoders for Object Detection from Point Clouds](https://mlsanity.com/paper/1812.05784/) (2018)
- [Center-based 3D Object Detection and Tracking](https://mlsanity.com/paper/2006.11275/) (2020)
- [Lift, Splat, Shoot: Encoding Images From Arbitrary Camera Rigs by Implicitly Unprojecting to 3D](https://mlsanity.com/paper/2008.05711/) (2020)
- [BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representation](https://mlsanity.com/paper/2205.13542/) (2022)
- [BEVDet: High-performance Multi-camera 3D Object Detection in Bird-Eye-View](https://mlsanity.com/paper/2112.11790/) (2021)
- [Class-balanced Grouping and Sampling for Point Cloud 3D Object Detection](https://mlsanity.com/paper/1908.09492/) (2019)
- [CenterFusion: Center-based Radar and Camera Fusion for 3D Object Detection](https://mlsanity.com/paper/2011.04841/) (2020)
- [K-Radar: 4D Radar Object Detection for Autonomous Driving in Various Weather Conditions](https://mlsanity.com/paper/2206.08171/) (2022)
- [TJ4DRadSet: A 4D Radar Dataset for Autonomous Driving](https://mlsanity.com/paper/2204.13483/) (2022)
- [RadarScenes: A Real-World Radar Point Cloud Data Set for Automotive Applications](https://mlsanity.com/paper/2104.02493/) (2021)
- [Distant Vehicle Detection Using Radar and Vision](https://mlsanity.com/paper/1901.10951/) (2019)
- [aiMotive Dataset: A Multimodal Dataset for Robust Autonomous Driving with Long-Range Perception](https://mlsanity.com/paper/2211.09445/) (2022)
- [SemanticVoxels: Sequential Fusion for 3D Pedestrian Detection using LiDAR Point Cloud and Semantic Segmentation](https://mlsanity.com/paper/2009.12276/) (2020)

## Built on by (most cited first, 1 of 1)

- [BEVal: A Cross-dataset Evaluation Study of BEV Segmentation Models for Autonomous Driving](https://mlsanity.com/paper/2408.16322/) (2024)

## Abstract (arXiv)

By exploiting complementary sensor information, radar and camera fusion systems have the potential to provide a highly robust and reliable perception system for advanced driver assistance systems and automated driving functions. Recent advances in camera-based object detection offer new radar-camera fusion possibilities with bird's eye view feature maps. In this work, we propose a novel and flexible fusion network and evaluate its performance on two datasets: nuScenes and View-of-Delft. Our experiments reveal that while the camera branch needs large and diverse training data, the radar branch benefits more from a high-performance radar. Using transfer learning, we improve the camera's performance on the smaller dataset. Our results further demonstrate that the radar-camera fusion approach significantly outperforms the camera-only and radar-only baselines.