mlsanityData to 7 Oct 2026

3D Dual-Fusion: Dual-Domain Dual-Query Camera-LiDAR Fusion for 3D Object Detection

arXiv 2211.13529 ↗First posted 24 Nov 2022cs.CVcited by 11

Not on the map. Why?

Abstract (arXiv)

Fusing data from cameras and LiDAR sensors is an essential technique to achieve robust 3D object detection. One key challenge in camera-LiDAR fusion involves mitigating the large domain gap between the two sensors in terms of coordinates and data distribution when fusing their features. In this paper, we propose a novel camera-LiDAR fusion architecture called, 3D Dual-Fusion, which is designed to mitigate the gap between the feature representations of camera and LiDAR data. The proposed method fuses the features of the camera-view and 3D voxel-view domain and models their interactions through deformable attention. We redesign the transformer fusion encoder to aggregate the information from the two domains. Two major changes include 1) dual query-based deformable attention to fuse the dual-domain features interactively and 2) 3D local self-attention to encode the voxel-domain queries prior to dual-query decoding. The results of an experimental evaluation show that the proposed camera-LiDAR fusion architecture achieved competitive performance on the KITTI and nuScenes datasets, with state-of-the-art performances in some 3D object detection benchmarks categories.

Key facts. Cited by 11 papers in the map (data through 7 Oct 2026). Builds on 43 of its 48 references that are in the map. First posted on arXiv 24 Nov 2022.

Builds on

43 of 48 references.

References · 43

  1. 2017Attention Is All You Needcited by 59,932
  2. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  3. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,384
  4. 2020Deformable DETR: Deformable Transformers for End-to-End Object Detectioncited by 3,410
  5. 2018Encoder-Decoder with Atrous Separable Convolution for Semantic Image Segmentationcited by 3,210
  6. 2018PointPillars: Fast Encoders for Object Detection from Point Cloudscited by 1,707
  7. 2017VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detectioncited by 1,323
  8. 2022BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformerscited by 1,213
  9. 2020Center-based 3D Object Detection and Trackingcited by 1,143
  10. 2018PointRCNN: 3D Object Proposal Generation and Detection from Point Cloudcited by 939
  11. 2022BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representationcited by 844
  12. 2016Multi-View 3D Object Detection Network for Autonomous Drivingcited by 721
31 more
  1. 2017Frustum PointNets for 3D Object Detection from RGB-D Datacited by 640
  2. 2022TransFusion: Robust LiDAR-Camera Fusion for 3D Object Detection with Transformerscited by 464
  3. 2019PointPainting: Sequential Fusion for 3D Object Detectioncited by 449
  4. 20203DSSD: Point-based 3D Single Stage Object Detectorcited by 440
  5. 2020Voxel R-CNN: Towards High Performance Voxel-based 3D Object Detectioncited by 409
  6. 2022BEVFusion: A Simple and Robust LiDAR-Camera Fusion Frameworkcited by 334
  7. 2017Joint 3D Proposal Generation and Object Detection from View Aggregationcited by 325
  8. 2020Deep Continuous Fusion for Multi-Sensor 3D Object Detectioncited by 263
  9. 2021Voxel Transformer for 3D Object Detectioncited by 247
  10. 2022DeepFusion: Lidar-Camera Deep Fusion for Multi-Modal 3D Object Detectioncited by 224
  11. 2020Multi-Task Multi-Sensor Fusion for 3D Object Detectioncited by 203
  12. 2022FUTR3D: A Unified Sensor Fusion Framework for 3D Detectioncited by 194
  13. 20203D-CVF: Generating Joint Camera and LiDAR Features Using Cross-View Spatial Feature Fusion for 3D Object Detectioncited by 176
  14. 2017PointFusion: Deep Sensor Fusion for 3D Bounding Box Estimationcited by 170
  15. 2021Multimodal Virtual Point 3D Detectioncited by 166
  16. 2020EPNet: Enhancing Point Features with Image Semantics for 3D Object Detectioncited by 164
  17. 2019MVX-Net: Multimodal VoxelNet for 3D Object Detectioncited by 162
  18. 2020CLOCs: Camera-LiDAR Object Candidates Fusion for 3D Object Detectioncited by 147
  19. 2022Focal Sparse Convolutional Networks for 3D Object Detectioncited by 142
  20. 2022Not All Points Are Equal: Learning Highly Efficient Point-based Detectors for 3D LiDAR Point Cloudscited by 131
  21. 2021Improving 3D Object Detection with Channel-wise Transformercited by 108
  22. 2021FusionPainting: Multimodal Fusion with Adaptive Attention for 3D Object Detectioncited by 92
  23. 2021Pyramid R-CNN: Towards Better Performance and Adaptability for 3D Object Detectioncited by 79
  24. 2022AutoAlign: Pixel-Instance Feature Aggregation for Multi-Modal 3D Object Detectioncited by 70
  25. 2022Point Density-Aware Voxels for LiDAR 3D Object Detectioncited by 70
  26. 2022Voxel Field Fusion for 3D Object Detectioncited by 50
  27. 2018IPOD: Intensive Point-based Object Detector for Point Cloudcited by 46
  28. 2022AutoAlignV2: Deformable Feature Aggregation for Dynamic Multi-Modal 3D Object Detectioncited by 46
  29. 2018RoarNet: A Robust 3D Object Detection based on RegiOn Approximation Refinementcited by 31
  30. 2022Homogeneous Multi-modal Feature Fusion and Interaction for 3D Object Detectioncited by 26
  31. 2018Robust Deep Multi-modal Learning Based on Gated Information Fusion Networkcited by 18

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 3; 2024: 2; 2025: 3; 2026: 3.

11 papers.

  1. 2024GraphBEV: Towards Robust BEV Feature Alignment for Multi-Modal 3D Object Detectioncited by 33
  2. 2025PF3Det: A Prompted Foundation Feature Assisted Visual LiDAR 3D Detectorcited by 4
  3. 2023Multimodal Object Query Initialization for 3D Object Detectioncited by 2
  4. 2025Multistream Network for LiDAR and Camera-based 3D Object Detection in Outdoor Scenescited by 2
  5. 2023ThermRad: A Multi-modal Dataset for Robust 3D Object Detection under Challenging Conditionscited by 1
  6. 2024A re-calibration method for object detection with multi-modal alignment bias in autonomous drivingcited by 1
  7. 2026Framework and Multi-modal Dataset for Roadwork Zone Detection and Geo-localizationcited by 1
  8. 2023A Semi-Automated Corner Case Detection and Evaluation Pipelinecited by 0
  9. 2025A Light Perspective for 3D Object Detectioncited by 0
  10. 2026Multi-Modal Decouple and Recouple Network for Robust 3D Object Detectioncited by 0
  11. 2026GraphBEV++: Multi-Modal Feature Alignment for Autonomous Drivingcited by 0