Table 5. Single-modal experimental results(3D@0.5 0.25 0.25)

Baseline Data Car Pedestrain Cyclist
3D@0.5 3D@0.25 3D@0.25
Easy Mod. Hard Easy Mod. Hard Easy Mod. Hard
RDIou LiDAR 63.43 40.80 32.92 33.71 29.35 28.96 38.26 35.62 35.02
Arbe 51.49 26.74 17.83 0.00 0.00 0.00 0.51 0.37 0.35
ARS548 5.96 3.77 2.29 0.00 0.00 0.00 0.21 0.15 0.15
Ours_RDIou LiDAR 62.56 42.22 35.55 36.27 31.33 30.84 39.17 36.68 36.08
Arbe 49.73 28.43 21.43 0.50 0.50 0.50 1.88 1.86 1.86
ARS548 0.00 0.00 0.00 0.00 0.00 0.00 2.01 1.96 1.95

Table 6. Single-modal experimental results(BEV@0.5 0.25 0.25)

Baseline Data Car Pedestrain Cyclist
BEV@0.5 BEV@0.25 BEV@0.25
Easy Mod. Hard Easy Mod. Hard Easy Mod. Hard
RDIou LiDAR 63.44 41.25 33.74 33.97 29.62 29.22 49.33 47.48 46.85
Arbe 55.27 31.48 21.80 0.01 0.01 0.01 0.84 0.66 0.65
ARS548 7.13 5.00 3.21 0.00 0.00 0.00 0.61 0.46 0.44
Ours_RDIou LiDAR 62.56 42.26 36.18 36.46 31.59 31.05 49.21 47.51 46.93
Arbe 55.09 33.86 24.76 0.50 0.50 0.50 9.81 9.22 9.22
ARS548 8.01 5.35 4.75 0.00 0.00 0.00 2.04 2.01 2.00

Table 7. Single-modal experimental results in the rainy scenario(3D@0.5 0.25 0.25)

Baseline Data Car Pedestrain Cyclist
3D@0.5 3D@0.25 3D@0.25
Easy Mod. Hard Easy Mod. Hard Easy Mod. Hard
RDIou LiDAR 44.93 39.32 39.09 24.28 21.63 21.43 52.64 43.92 42.04
Arbe 67.81 49.59 43.24 0.00 0.00 0.00 0.38 0.30 0.28
ARS548 5.87 5.48 4.68 0.00 0.00 0.00 0.09 0.01 0.01
Ours_RDIou LiDAR 63.39 40.75 32.88 33.67 29.33 28.93 38.10 35.49 34.90
Arbe 47.57 24.34 16.06 0.00 0.00 0.00 0.16 0.10 0.10
ARS548 无 无 无 0.00 0.00 0.00 无 无 无

Table 8. Single-modal experimental results(BEV@0.5 0.25 0.25) in the rainy scenario

Baseline Data Car Pedestrain Cyclist
BEV@0.5 BEV@0.25 BEV@0.25
Easy Mod. Hard Easy Mod. Hard Easy Mod. Hard
RDIou LiDAR 44.93 39.39 39.86 24.28 21.63 21.43 10.80 52.44 50.28
Arbe 70.09 54.17 47.64 0.00 0.00 0.00 0.63 0.45 0.45
ARS548 6.36 6.51 5.46 0.00 0.00 0.00 0.13 0.08 0.08
Ours_RDIou LiDAR 63.39 40.90 33.70 33.93 29.59 29.20 49.12 47.36 46.72
Arbe 54.20 30.36 20.81 0.00 0.00 0.00 0.33 0.24 0.22
ARS548 无 无 无 0.00 0.00 0.00 0.25 0.21 0.21