DecoratingFusion attaches image features to LiDAR points using calibration and then fuses both through cross-attention queries, improving 3D detection on KITTI and Waymo.
In: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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DecoratingFusion: A LiDAR-Camera Fusion Network with the Combination of Point-level and Feature-level Fusion
DecoratingFusion attaches image features to LiDAR points using calibration and then fuses both through cross-attention queries, improving 3D detection on KITTI and Waymo.