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Multi-Task Multi-Sensor Fusion for 3D Object Detection

arXiv 2012.12397 ↗First posted 22 Dec 2020cs.CVcited by 203

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Abstract (arXiv)

In this paper we propose to exploit multiple related tasks for accurate multi-sensor 3D object detection. Towards this goal we present an end-to-end learnable architecture that reasons about 2D and 3D object detection as well as ground estimation and depth completion. Our experiments show that all these tasks are complementary and help the network learn better representations by fusing information at various levels. Importantly, our approach leads the KITTI benchmark on 2D, 3D and BEV object detection, while being real time.

Key facts. Cited by 203 papers in the map (data through 14 Oct 2026). First posted on arXiv 22 Dec 2020.

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2021: 73; 2022: 58; 2023: 36; 2024: 24; 2025: 8; 2026: 4.

203 papers.

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  1. 2022BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representationcited by 850
  2. 2022TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Drivingcited by 485
  3. 2022TransFusion: Robust LiDAR-Camera Fusion for 3D Object Detection with Transformerscited by 466
  4. 2021Multi-Modal Fusion Transformer for End-to-End Autonomous Drivingcited by 377
  5. 2021OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communicationcited by 304
  6. 2022Trajectory-guided Control Prediction for End-to-end Autonomous Driving: A Simple yet Strong Baselinecited by 248
  7. 2021Voxel Transformer for 3D Object Detectioncited by 247
  8. 2021PV-RCNN++: Point-Voxel Feature Set Abstraction With Local Vector Representation for 3D Object Detectioncited by 232
  9. 2021One Million Scenes for Autonomous Driving: ONCE Datasetcited by 218
  10. 2021End-to-End Urban Driving by Imitating a Reinforcement Learning Coachcited by 194
  11. 2021Multimodal Virtual Point 3D Detectioncited by 166
  12. 2021Offboard 3D Object Detection from Point Cloud Sequencescited by 145
38 more
  1. 2022Focal Sparse Convolutional Networks for 3D Object Detectioncited by 142
  2. 2022PersFormer: 3D Lane Detection via Perspective Transformer and the OpenLane Benchmarkcited by 140
  3. 20223D Object Detection for Autonomous Driving: A Comprehensive Surveycited by 132
  4. 2021LiDAR R-CNN: An Efficient and Universal 3D Object Detectorcited by 129
  5. 2022Delving into the Devils of Bird's-eye-view Perception: A Review, Evaluation and Recipecited by 122
  6. 2023DSVT: Dynamic Sparse Voxel Transformer with Rotated Setscited by 122
  7. 2021SE-SSD: Self-Ensembling Single-Stage Object Detector From Point Cloudcited by 119
  8. 2021Improving 3D Object Detection with Channel-wise Transformercited by 108
  9. 20213D Object Detection for Autonomous Driving: A Surveycited by 106
  10. 2023Recent Advancements in End-to-End Autonomous Driving using Deep Learning: A Surveycited by 103
  11. 2022Voxel Set Transformer: A Set-to-Set Approach to 3D Object Detection from Point Cloudscited by 102
  12. 2021Invisible for both Camera and LiDAR: Security of Multi-Sensor Fusion based Perception in Autonomous Driving Under Physical-World Attackscited by 101
  13. 2022PillarNet: Real-Time and High-Performance Pillar-based 3D Object Detectioncited by 99
  14. 2021SPG: Unsupervised Domain Adaptation for 3D Object Detection via Semantic Point Generationcited by 94
  15. 2021FusionPainting: Multimodal Fusion with Adaptive Attention for 3D Object Detectioncited by 92
  16. 2022InvPT: Inverted Pyramid Multi-task Transformer for Dense Scene Understandingcited by 89
  17. 2022Sparse Fuse Dense: Towards High Quality 3D Detection with Depth Completioncited by 82
  18. 2023Virtual Sparse Convolution for Multimodal 3D Object Detectioncited by 81
  19. 2021Pyramid R-CNN: Towards Better Performance and Adaptability for 3D Object Detectioncited by 79
  20. 2022Multi-modal Sensor Fusion for Auto Driving Perception: A Surveycited by 76
  21. 2021M3DeTR: Multi-representation, Multi-scale, Mutual-relation 3D Object Detection with Transformerscited by 74
  22. 20213D-MAN: 3D Multi-frame Attention Network for Object Detectioncited by 73
  23. 20223D Object Detection from Images for Autonomous Driving: A Surveycited by 66
  24. 2021Multi-Modal 3D Object Detection in Autonomous Driving: a Surveycited by 63
  25. 2022MSMDFusion: Fusing LiDAR and Camera at Multiple Scales with Multi-Depth Seeds for 3D Object Detectioncited by 62
  26. 2021Object DGCNN: 3D Object Detection using Dynamic Graphscited by 58
  27. 2021Behind the Curtain: Learning Occluded Shapes for 3D Object Detectioncited by 58
  28. 2023Radar-Camera Fusion for Object Detection and Semantic Segmentation in Autonomous Driving: A Comprehensive Reviewcited by 58
  29. 2023FocalFormer3D : Focusing on Hard Instance for 3D Object Detectioncited by 58
  30. 2024IS-Fusion: Instance-Scene Collaborative Fusion for Multimodal 3D Object Detectioncited by 57
  31. 2021Semantics for Robotic Mapping, Perception and Interaction: A Surveycited by 56
  32. 2021SimIPU: Simple 2D Image and 3D Point Cloud Unsupervised Pre-Training for Spatial-Aware Visual Representationscited by 55
  33. 2022Polar Parametrization for Vision-based Surround-View 3D Detectioncited by 53
  34. 2022Benchmarking the Robustness of LiDAR-Camera Fusion for 3D Object Detectioncited by 50
  35. 2022Voxel Field Fusion for 3D Object Detectioncited by 50
  36. 2021EPNet++: Cascade Bi-directional Fusion for Multi-Modal 3D Object Detectioncited by 49
  37. 2021VPFNet: Improving 3D Object Detection with Virtual Point based LiDAR and Stereo Data Fusioncited by 48
  38. 2021HVPR: Hybrid Voxel-Point Representation for Single-stage 3D Object Detectioncited by 47

50 most cited of 203 All 203 (JSON)