DepthFusion uses depth-based weighting in global and local cross-attention to fuse LiDAR and camera features, and it outperforms prior 3D detectors on nuScenes, KITTI, and nuScenes-C.
nuscenes: A multimodal dataset for autonomous driving
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DepthFusion: Depth-Aware Hybrid Feature Fusion for LiDAR-Camera 3D Object Detection
DepthFusion uses depth-based weighting in global and local cross-attention to fuse LiDAR and camera features, and it outperforms prior 3D detectors on nuScenes, KITTI, and nuScenes-C.