AI RESEARCH
Look Before You Fuse: 2D-Guided Cross-Modal Alignment for Robust 3D Detection
arXiv CS.CV
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ArXi:2507.16861v3 Announce Type: replace Integrating LiDAR and camera inputs into a unified Bird's-Eye-View (BEV) representation is crucial for enhancing 3D perception capabilities of autonomous vehicles. However, existing methods suffer from spatial misalignment between LiDAR and camera features, which causes inaccurate depth supervision in camera branch and erroneous fusion during cross-modal feature aggregation. The root cause of this misalignment lies in projection errors, stemming from calibration inaccuracies and rolling shutter effect.