PoIFusion: Multi-Modal 3D Object Detection via Fusion at Points of Interest

arXiv:2403.09212v1 Announce Type: new
Abstract: In this work, we present PoIFusion, a simple yet effective multi-modal 3D object detection framework to fuse the information of RGB images and LiDAR point clouds at the point of interest (abbreviated as PoI). Technically, our PoIFusion follows the paradigm of query-based object detection, formulating object queries as dynamic 3D boxes. The PoIs are adaptively generated from each query box on the fly, serving as the keypoints to represent a 3D object and play the …

3d object 3d object detection arxiv cs.cv detection fusion modal multi-modal object type via