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Single-frameMulti-frame
#RoundsTime (ms)mAP (%)NDS (%)mAP (%)NDS (%)
10.6653.1451.5255.0261.27
30.7253.7653.6256.0162.82
50.7653.4253.4057.0863.15
70.7653.0653.1056.9963.47
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Modality groupsMulti-roundTime (ms)mAP (%)NDS (%)
[x,y,z,r,0,Φ,i,t,e]√6.056.3562.65
[x,y,z],[r，0,],[i],[t],[e]√4.256.3463.07
[x],[y]，[2],[r],[0]，[]，[]，[，[e]√3.257.0863.15
[x],[],[2],，[r],[0],，[],，[]，[],[e]3.856.8363.15
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Prioritized? mAP(%) NDS(%)CarTruckBusTrailerC.V.Ped. MotorBicycleT.C.Barrier
54.2962.3176.847.362.032.016.580.353.838.270.165.9
√57.0863.1582.152.365.233.618.3 84.158.535.373.467.9
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Method Voxel/MRV(ms) Backbone(ms) Heads(ms) Overall(ms) mAP(%) NDS(%)
single-frame point cloud
CenterPoint [YZK21]1.6241850.6252.8353.86
FCOS-LiDAR (Ours)0.6331738.6353.4253.40
multi-frame point cloud
CenterPoint [YZK21]1.9563973.9560.4067.25
FCOS-LiDAR(Ours)0.7631738.7657.0863.15
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Dilations mAP(%)NDS(%)CarTruckBusTrailerC.V.Ped.MotorBicycleT.C.Barrier
（1,）55.8762.6881.851.064.132.616.983.856.331.272.768.3
(1,3)56.3962.9682.352.165.332.817.183.758.232.572.067.8
(1,3,6)57.0863.1582.152.365.233.618.384.158.535.373.467.9
(1,1,1)56.6363.1282.151.565.232.917.183.758.833.773.168.0
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Untied? mAP(%)NDS(%)CarTruckBusTrailerC.V.Ped.MotorBicycleT.C.Barrier
56.4463.0982.051.164.331.118.383.857.934.772.968.4
√57.0863.1582.152.365.233.618.384.158.535.373.467.9
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#Conv. Time (ms) mAP(%) NDS(%) Car Truck Bus Trailer C.V. Ped. Motor Bicycle T.C. Barrier
12.055.8161.9881.8 51.465.230.716.9 83.456.032.8 71.968.1
23.257.0863.1582.1 52.3 65.233.618.3 84.158.535.3 73.467.9
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45.368.4 23.0 28.2 23.44.1 59.7 27.4 1.1 30.8
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CVCNet [CSCY20] 55.3 64.482.7 46.1 46.6 49.4 22.679.8 59.1
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CenterPoint [YZK21] 58.022.3 70.9
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