FGU3R fuses LiDAR points and image-derived pseudo points with a keypoint-based convolution and an attention gate, reporting small gains on KITTI and nuScenes 3D detection.
Hybrid cross-transformer-kpconv for point cloud segmentation,
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FGU3R: Fine-Grained Fusion via Unified 3D Representation for Multimodal 3D Object Detection
FGU3R fuses LiDAR points and image-derived pseudo points with a keypoint-based convolution and an attention gate, reporting small gains on KITTI and nuScenes 3D detection.