We lifted 8 functions out of this paper's own repositories and ran 3 of them in a sandbox. "Ran" means the function executed on a synthesized input and returned a value. It is not a reproduction of the paper's results.
| Repository | Role | Ran |
|---|---|---|
| ylwhxht/l4dr | canonical | 3 of 8 |
| Function | Status | Where it lives |
|---|---|---|
| get_image_index_str | Ran | ylwhxht/l4dr/K-Radar-main-repo/main_tmp.py code served (permissive licence) · get_code("3415a0d1c950c1c7") |
| get_label_anno | Ran | ylwhxht/l4dr/K-Radar-main-repo/main_tmp.py code served (permissive licence) · get_code("66ed6e5c50ded185") |
| get_label_annos | Ran | ylwhxht/l4dr/K-Radar-main-repo/main_tmp.py code served (permissive licence) · get_code("4563670bb0faaaaa") |
| cfg_from_yaml_file | Not yet run | ylwhxht/l4dr/pcdet/config.py code served (permissive licence) · get_code("44db2351bcc0bffe") |
| compute_fg_mask | Not yet run | ylwhxht/l4dr/K-Radar-main-repo/utils/loss_utils.py code served (permissive licence) · get_code("65fe32ede00e7dcb") |
| get_corner_loss_lidar | Not yet run | ylwhxht/l4dr/K-Radar-main-repo/utils/loss_utils.py code served (permissive licence) · get_code("1780d388cc532a6d") |
| merge_new_config | Not yet run | ylwhxht/l4dr/pcdet/config.py code served (permissive licence) · get_code("50e8e8cdfc5129f0") |
| neg_loss_cornernet | Not yet run | ylwhxht/l4dr/K-Radar-main-repo/utils/loss_utils.py code served (permissive licence) · get_code("488b91d67a807558") |
Some links come from the archived Papers with Code dataset (CC BY-SA 4.0): attribution and licence.
LiDAR-based vision systems are integral for 3D object detection, which is crucial for autonomous navigation. However, they suffer from performance degradation in adverse weather conditions due to the quality deterioration of LiDAR point clouds. Fusing LiDAR with the weather-robust 4D radar sensor is expected to solve this problem. However, the fusion of LiDAR and 4D radar is challenging because they differ significantly in terms of data quality and the degree of degradation in adverse weather. To address these issues, we introduce L4DR, a weather-robust 3D object detection method that effectively achieves LiDAR and 4D Radar fusion. Our L4DR includes Multi-Modal Encoding (MME) and Foreground-Aware Denoising (FAD) technique to reconcile sensor gaps, which is the first exploration of the complementarity of early fusion between LiDAR and 4D radar. Additionally, we design an Inter-Modal and Intra-Modal ({IM}2 ) parallel feature extraction backbone coupled with a Multi-Scale Gated Fusion (MSGF) module to counteract the varying degrees of sensor degradation under adverse weather conditions. Experimental evaluation on a VoD dataset with simulated fog proves that L4DR is more adaptable to changing weather conditions. It delivers a significant performance increase under different fog levels, improving the 3D mAP by up to 20.0% over the traditional LiDAR-only approach. Moreover, the results on the K-Radar dataset validate the consistent performance improvement of L4DR in real-world adverse weather conditions.
The same record, over MCP at https://syntology.ai/mcp:
get_harvested_code_for_paper("2408.03677")
get_code_for_paper("2408.03677")
have("2408.03677")
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