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IEEE/ICACT20250226 Slide.13        [Big Slide]	Oral Presentation
	For our experiment, we used nuScenes dataset. It is a large scale outdoor multimodal benchmark providing full 360 degree coverage across all vision. The figure above illustrates the sensor setup on the car that includes 6 cameras, 5 radars for front and back, 1 lidar on top with imu. This dataset provides official splits with 700 scenes for training and 150 scenes for validation. For evaluation, we used two primary metrics. Mean average precision and NuScenes detection scores. NDS is a composite metric that combines and balances mAP with five true positive metrics to provide a evaluation of detection quality. The formula for NDS as shown below.

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