AI RESEARCH
Native-Domain Cross-Attention for Camera-LiDAR Extrinsic Calibration Under Large Initial Perturbations
arXiv CS.CV
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ArXi:2603.29414v1 Announce Type: new Accurate camera-LiDAR fusion relies on precise extrinsic calibration, which fundamentally depends on establishing reliable cross-modal correspondences under potentially large misalignments. Existing learning-based methods typically project LiDAR points into depth maps for feature fusion, which distorts 3D geometry and degrades performance when the extrinsic initialization is far from the ground truth.