mlsanityData to 7 Oct 2026

Voxel Field Fusion for 3D Object Detection

arXiv 2205.15938 ↗First posted 31 May 2022cs.CVcited by 50

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Abstract (arXiv)

In this work, we present a conceptually simple yet effective framework for cross-modality 3D object detection, named voxel field fusion. The proposed approach aims to maintain cross-modality consistency by representing and fusing augmented image features as a ray in the voxel field. To this end, the learnable sampler is first designed to sample vital features from the image plane that are projected to the voxel grid in a point-to-ray manner, which maintains the consistency in feature representation with spatial context. In addition, ray-wise fusion is conducted to fuse features with the supplemental context in the constructed voxel field. We further develop mixed augmentor to align feature-variant transformations, which bridges the modality gap in data augmentation. The proposed framework is demonstrated to achieve consistent gains in various benchmarks and outperforms previous fusion-based methods on KITTI and nuScenes datasets. Code is made available at https://github.com/dvlab-research/VFF.

Key facts. Cited by 50 papers in the map (data through 7 Oct 2026). Builds on 43 of its 50 references that are in the map. First posted on arXiv 31 May 2022.

Builds on

43 of 50 references.

References · 43

  1. 2015Deep Residual Learning for Image Recognitioncited by 51,809
  2. 2015Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networkscited by 9,617
  3. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  4. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,384
  5. 2019CutMix: Regularization Strategy to Train Strong Classifiers with Localizable Featurescited by 2,875
  6. 2017Rethinking Atrous Convolution for Semantic Image Segmentationcited by 2,154
  7. 2018PointPillars: Fast Encoders for Object Detection from Point Cloudscited by 1,707
  8. 2020pixelNeRF: Neural Radiance Fields from One or Few Imagescited by 1,574
  9. 2017VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detectioncited by 1,323
  10. 2020Center-based 3D Object Detection and Trackingcited by 1,143
  11. 2020Neural Sparse Voxel Fieldscited by 959
  12. 2018PointRCNN: 3D Object Proposal Generation and Detection from Point Cloudcited by 939
31 more
  1. 2019PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detectioncited by 890
  2. 2018MVSNet: Depth Inference for Unstructured Multi-view Stereocited by 780
  3. 2016Multi-View 3D Object Detection Network for Autonomous Drivingcited by 721
  4. 2019Deep Hough Voting for 3D Object Detection in Point Cloudscited by 648
  5. 2017Frustum PointNets for 3D Object Detection from RGB-D Datacited by 640
  6. 2018Pseudo-LiDAR from Visual Depth Estimation: Bridging the Gap in 3D Object Detection for Autonomous Drivingcited by 455
  7. 2019PointPainting: Sequential Fusion for 3D Object Detectioncited by 449
  8. 2021FCOS3D: Fully Convolutional One-Stage Monocular 3D Object Detectioncited by 444
  9. 20203DSSD: Point-based 3D Single Stage Object Detectorcited by 440
  10. 2020Voxel R-CNN: Towards High Performance Voxel-based 3D Object Detectioncited by 409
  11. 2019From Points to Parts: 3D Object Detection from Point Cloud with Part-aware and Part-aggregation Networkcited by 366
  12. 2019PIXOR: Real-time 3D Object Detection from Point Cloudscited by 358
  13. 2019Class-balanced Grouping and Sampling for Point Cloud 3D Object Detectioncited by 350
  14. 2021Categorical Depth Distribution Network for Monocular 3D Object Detectioncited by 326
  15. 2017Joint 3D Proposal Generation and Object Detection from View Aggregationcited by 325
  16. 2019STD: Sparse-to-Dense 3D Object Detector for Point Cloudcited by 282
  17. 2020Deep Continuous Fusion for Multi-Sensor 3D Object Detectioncited by 263
  18. 2019M3D-RPN: Monocular 3D Region Proposal Network for Object Detectioncited by 251
  19. 2019Disentangling Monocular 3D Object Detectioncited by 215
  20. 2020Multi-Task Multi-Sensor Fusion for 3D Object Detectioncited by 203
  21. 2019Pseudo-LiDAR++: Accurate Depth for 3D Object Detection in Autonomous Drivingcited by 188
  22. 20203D-CVF: Generating Joint Camera and LiDAR Features Using Cross-View Spatial Feature Fusion for 3D Object Detectioncited by 176
  23. 2021Multimodal Virtual Point 3D Detectioncited by 166
  24. 2020EPNet: Enhancing Point Features with Image Semantics for 3D Object Detectioncited by 164
  25. 2019MVX-Net: Multimodal VoxelNet for 3D Object Detectioncited by 162
  26. 2019Point-Based Multi-View Stereo Networkcited by 147
  27. 2020ImVoteNet: Boosting 3D Object Detection in Point Clouds with Image Votescited by 119
  28. 2018Modeling Visual Context is Key to Augmenting Object Detection Datasetscited by 106
  29. 2020DSGN: Deep Stereo Geometry Network for 3D Object Detectioncited by 100
  30. 2021FusionPainting: Multimodal Fusion with Adaptive Attention for 3D Object Detectioncited by 92
  31. 2020HDNET: Exploiting HD Maps for 3D Object Detectioncited by 78

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 8; 2023: 12; 2024: 16; 2025: 11; 2026: 3.

50 papers.

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  1. 2022Unifying Voxel-based Representation with Transformer for 3D Object Detectioncited by 202
  2. 20223D Object Detection for Autonomous Driving: A Comprehensive Surveycited by 132
  3. 2022DeepInteraction: 3D Object Detection via Modality Interactioncited by 125
  4. 2024An Extensible Framework for Open Heterogeneous Collaborative Perceptioncited by 87
  5. 2023LoGoNet: Towards Accurate 3D Object Detection with Local-to-Global Cross-Modal Fusioncited by 80
  6. 2022MSMDFusion: Fusing LiDAR and Camera at Multiple Scales with Multi-Depth Seeds for 3D Object Detectioncited by 62
  7. 2023FocalFormer3D : Focusing on Hard Instance for 3D Object Detectioncited by 58
  8. 2024IS-Fusion: Instance-Scene Collaborative Fusion for Multimodal 3D Object Detectioncited by 57
  9. 2023Mask-Attention-Free Transformer for 3D Instance Segmentationcited by 45
  10. 2023Dual Radar: A Multi-modal Dataset with Dual 4D Radar for Autonomous Drivingcited by 32
  11. 2024CRKD: Enhanced Camera-Radar Object Detection with Cross-modality Knowledge Distillationcited by 27
  12. 2024RoboFusion: Towards Robust Multi-Modal 3D Object Detection via SAMcited by 20
38 more
  1. 2024MultiCorrupt: A Multi-Modal Robustness Dataset and Benchmark of LiDAR-Camera Fusion for 3D Object Detectioncited by 17
  2. 2025Perspective-Invariant 3D Object Detectioncited by 16
  3. 2024AD-H: Language-guided Autonomous Driving with Hierarchical Agentscited by 15
  4. 2024DeepInteraction++: Multi-Modality Interaction for Autonomous Drivingcited by 15
  5. 2023SupFusion: Supervised LiDAR-Camera Fusion for 3D Object Detectioncited by 14
  6. 2024VoxelNextFusion: A Simple, Unified and Effective Voxel Fusion Framework for Multi-Modal 3D Object Detectioncited by 14
  7. 2025AutoOcc: Automatic Open-Ended Semantic Occupancy Annotation via Vision-Language Guided Gaussian Splattingcited by 14
  8. 2023UniM2AE: Multi-modal Masked Autoencoders with Unified 3D Representation for 3D Perception in Autonomous Drivingcited by 12
  9. 20223D Dual-Fusion: Dual-Domain Dual-Query Camera-LiDAR Fusion for 3D Object Detectioncited by 11
  10. 2024Eliminating Cross-modal Conflicts in BEV Space for LiDAR-Camera 3D Object Detectioncited by 10
  11. 2025Ev-3DOD: Pushing the Temporal Boundaries of 3D Object Detection with Event Camerascited by 8
  12. 2023MLF-DET: Multi-Level Fusion for Cross-Modal 3D Object Detectioncited by 5
  13. 2023mmFUSION: Multimodal Fusion for 3D Objects Detectioncited by 5
  14. 2025A Survey of Multi-sensor Fusion Perception for Embodied AI: Background, Methods, Challenges and Prospectscited by 5
  15. 2023Multi-Modal 3D Object Detection by Box Matchingcited by 4
  16. 2024Improving Robustness of LiDAR-Camera Fusion Model against Weather Corruption from Fusion Strategy Perspectivecited by 4
  17. 2025Towards Accurate and Efficient 3D Object Detection for Autonomous Driving: A Mixture of Experts Computing System on Edgecited by 4
  18. 2022Multi-modal Streaming 3D Object Detectioncited by 3
  19. 2023BEV-IO: Enhancing Bird's-Eye-View 3D Detection with Instance Occupancycited by 3
  20. 2025Unleashing the Temporal Potential of Stereo Event Cameras for Continuous-Time 3D Object Detectioncited by 3
  21. 2023What You See Is What You Detect: Towards better Object Densification in 3D detectioncited by 1
  22. 2024Learning Shared RGB-D Fields: Unified Self-supervised Pre-training for Label-efficient LiDAR-Camera 3D Perceptioncited by 1
  23. 2024CLAP: Unsupervised 3D Representation Learning for Fusion 3D Perception via Curvature Sampling and Prototype Learningcited by 1
  24. 2025DepthFusion: Depth-Aware Hybrid Feature Fusion for LiDAR-Camera 3D Object Detectioncited by 1
  25. 2022Recursive Cross-View: Use Only 2D Detectors to Achieve 3D Object Detection without 3D Annotationscited by 0
  26. 2022PathFusion: Path-consistent Lidar-Camera Deep Feature Fusioncited by 0
  27. 2023Towards Transferable Multi-modal Perception Representation Learning for Autonomy: NeRF-Supervised Masked AutoEncodercited by 0
  28. 2024Explore the LiDAR-Camera Dynamic Adjustment Fusion for 3D Object Detectioncited by 0
  29. 2024KAN-RCBEVDepth: A multi-modal fusion algorithm in object detection for autonomous drivingcited by 0
  30. 2024Image-Guided Semantic Pseudo-LiDAR Point Generation for 3D Object Detectioncited by 0
  31. 2024Neural Observation Field Guided Hybrid Optimization of Camera Placementcited by 0
  32. 2025FrustumFusionNets: A Three-Dimensional Object Detection Network Based on Tractor Road Scenecited by 0
  33. 2025LiDAR-Guided Monocular 3D Object Detection for Long-Range Railway Monitoringcited by 0
  34. 2025LDRFusion: A LiDAR-Dominant multimodal refinement framework for 3D object detectioncited by 0
  35. 2025IMKD: Intensity-Aware Multi-Level Knowledge Distillation for Camera-Radar Fusioncited by 0
  36. 2026Hyperbolic Distillation: Geometry-Guided Cross-Modal Transfer for Robust 3D Object Detectioncited by 0
  37. 2026Co-Fusion4D: Spatio-temporal Collaborative Fusion for Robust 3D Object Detectioncited by 0
  38. 2026Towards robust multimodal 3D object detection via visual foundation modelscited by 0