From One to Many: Dynamic Cross Attention Networks for LiDAR and Camera Fusion

Understand

LiDAR and cameras are two complementary sensors for 3D perception in autonomous driving.

• LiDAR point clouds have accurate spatial and geometry information, while RGB images provide textural and color data for context reasoning.
• To exploit LiDAR and cameras jointly, existing fusion methods tend to align each 3D point to only one projected image pixel based on calibration, namely one-to-one mapping.
• However, the performance of these approaches highly relies on the calibration quality, which is sensitive to the temporal and spatial synchronization of sensors.