SemoDepth — Radar-Camera Depth Estimation

Official implementation2026

The official code for “Selection, Not Fusion.” Radar features are injected inside the Mamba selective scan — Radar-Modulated Selection (RMS) modulates the step size Δ and readout C while the main stream stays image-only — and fused across a Multi-View Scan Pyramid (MVSP). Ships training / evaluation code and pretrained nuScenes & ZJU-4DRadarCam checkpoints.