3D Dual-Fusion: Dual-Domain Dual-Query Camera-LiDAR Fusion for 3D Object Detection

Understand

Fusing data from cameras and LiDAR sensors is an essential technique to achieve robust 3D object detection.

• One key challenge in camera-LiDAR fusion involves mitigating the large domain gap between the two sensors in terms of coordinates and data distribution when fusing their features.
• In this paper, we propose a novel camera-LiDAR fusion architecture called, 3D Dual-Fusion, which is designed to mitigate the gap between the feature representations of camera and LiDAR data.
• The proposed method fuses the features of the camera-view and 3D voxel-view domain and models their interactions through deformable attention.