MAD: Memory-Augmented Detection of 3D Objects

Detector (b) Object Memory (c) Memory Augmented Detections 0.0s -2.4s Memory Age False Negative Figure 1. Detectors without long-term temporal fusion (a) miss heavily occluded objects. Our approach enhances detectors (b) to remember past predictions, (c) recovering from occlusion. Detections are in green , labels are in black , lidar points are in • gray.