Supplementary Materials for "Echoes Beyond Points: Unleashing the Power of Raw Radar Data in Multi-modality Fusion "

In this section, we will provide a detailed proof for the correspondence between pillar in radar coordinate and column in camera coordinate as described in Section 4.2 of our main paper. Our goal is to find a situation that the pillar is projected as a column on the image plane. Figure S1: Illustration of coordinate system transformation. The ground truth bounding boxes are in pink, while the predicted bounding boxes are in green with the confidence score on its upper right. The LiDAR points and the radar points are respectively in blue and red.