Table 3.

Comparison with Several Popular Fusion-based Methods on UM_ROAD (BEV) (/%).

Method	MaxF	AP	PRE	REC	FPR	FNR
PLARD	97.05	93.53	97.18	96.92	1.28	3.08
LidCamNet	95.62	93.54	95.77	95.48	1.92	4.52
RES3D-Velo	83.81	73.95	78.56	89.80	11.16	10.20
FusedCRF	89.55	80.00	84.87	94.78	7.70	5.22
HybridCRF	90.99	85.26	90.65	91.33	4.29	8.67
MixedCRF	91.57	84.68	90.02	93.19	4.71	6.81
Ours	94.54	93.23	94.57	94.52	2.47	5.48