Applying realistic camera occlusions to nuScenes images drops BEV vehicle segmentation IoU from 47.4 to 34.3 for cameras alone, while fusing LiDAR and radar cuts the degradation from 27.6% to 15.5%.
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Minimizing Occlusion Effect on Multi-View Camera Perception in BEV with Multi-Sensor Fusion
Applying realistic camera occlusions to nuScenes images drops BEV vehicle segmentation IoU from 47.4 to 34.3 for cameras alone, while fusing LiDAR and radar cuts the degradation from 27.6% to 15.5%.