Table 3.

Performance comparison of different fusion methods on the KITTI validation set.

Method	3D Detection (IoU = 0.7)			BEV Detection (IoU = 0.7)
	Easy	Moderate	Hard	Easy	Moderate	Hard
Baseline	88.46	78.15	76.68	90.01	87.45	85.08
Early Concat Fusion	88.44	78.27	77.09	90.10	87.83	86.28
Early Sum Fusion	89.10	78.68	77.35	90.21	87.82	85.99
Late Concat Fusion	88.66	78.55	77.25	90.12	88.05	86.80
Late Sum Fusion	89.02	78.70	77.57	90.20	87.88	86.20