BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representation. (arXiv:2205.13542v2 [cs.CV] UPDATED)

Web: http://arxiv.org/abs/2205.13542

Multi-sensor fusion is essential for an accurate and reliable autonomous
driving system. Recent approaches are based on point-level fusion: augmenting
the LiDAR point cloud with camera features. However, the camera-to-LiDAR
projection throws away the semantic density of camera features, hindering the
effectiveness of such methods, especially for semantic-oriented tasks (such as
3D scene segmentation). In this paper, we break this deeply-rooted convention
with BEVFusion, an efficient and generic multi-task multi-sensor fusion
framework. It unifies multi-modal features in the shared bird's-eye …

arxiv cv fusion representation sensor