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 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 Arbe 59.26 36.85 26.89 0.47 0.47 0.47 0.73 0.51 0.50
ARS548 19.05 12.41 9.54 1.29 1.29 1.29 0.21 0.14 0.13
VoxelRCNN Arbe 55.47 30.17 19.82 0.03 0.02 0.02 0.15 0.06 0.06
Ours_VoxelRCNN Arbe 58.08 32.02 21.78 1.01 1.01 1.01 9.09 9.09 9.09
Pointpillars Arbe 49.06 27.64 18.63 0.00 0.00 0.00 0.15 0.06 0.06
Ours_Pointpillars Arbe 54.82 33.10 22.61 0.11 0.11 0.11 4.75 4.66 4.65

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 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 Arbe 62.64 41.97 32.18 0.47 0.47 0.47 1.19 0.87 0.86
ARS548 21.58 14.02 10.34 1.29 1.29 1.29 2.00 1.27 1.27
VoxelRCNN Arbe 59.32 34.86 23.77 0.02 0.02 0.02 0.21 0.15 0.15
Ours_VoxelRCNN Arbe 63.80 40.31 28.34 1.01 1.01 1.01 9.09 9.09 9.09
Pointpillars Arbe 54.63 35.09 25.19 0.00 0.00 0.00 0.41 0.24 0.23
Ours_Pointpillars Arbe 60.48 44.10 33.82 0.11 0.11 0.11 4.89 4.76 4.74

Table 7. Single-modal experimental results in the rainy scenario(3D@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 Arbe 67.81 49.59 43.24 0.0 0.00 0.00 0.38 0.30 0.28
Ours_RDIou Arbe 56.01 31.59 21.35 0.00 0.00 0.00 1.67 1.20 1.19
VoxelRCNN Arbe
Ours_VoxelRCNN Arbe 58.08 32.02 21.78 0.01 0.00 0.00 0.16 0.06 0.06
Pointpillars Arbe 68.24 48.98 42.80 0.00 0.00 0.00 0.19 0.10 0.09
Ours_Pointpillars Arbe 54.82 33.10 22.61 0.00 0.00 0.00 0.47 0.27 0.24

Table 7. Single-modal experimental results in the rainy scenario(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 Arbe 70.09 54.17 47.64 0.00 0.00 0.00 0.63 0.45 0.45
Ours_RDIou Arbe 60.84 38.28 26.91 0.00 0.00 0.00 1.87 1.37 1.19
VoxelRCNN Arbe
Ours_VoxelRCNN Arbe 63.86 38.52 26.55 0.01 0.01 0.01 0.20 0.16 0.08
Pointpillars Arbe 74.50 59.68 54.34 0.00 0.00 0.00 0.32 0.16 0.15
Ours_Pointpillars Arbe 61.31 43.29 31.66 0.00 0.00 0.00 0.78 0.45 0.41