CMF-IoU: Multi-Stage Cross-Modal Fusion 3D Object Detection with IoU Joint Prediction

TL;DR

This paper presents CMF-IOU, a multi-stage cross-modal fusion framework for 3D object detection that effectively aligns 3D spatial and 2D semantic information, leading to improved accuracy across multiple datasets.

Contribution

The paper introduces a novel multi-stage fusion framework with a joint IoU prediction branch, unifying LiDAR and camera data for enhanced 3D detection performance.

Findings

Superior performance on KITTI, nuScenes, and Waymo datasets.

Effective alignment of 3D spatial and 2D semantic features.

Improved bounding box accuracy with IoU joint prediction.

Abstract

Multi-modal methods based on camera and LiDAR sensors have garnered significant attention in the field of 3D detection. However, many prevalent works focus on single or partial stage fusion, leading to insufficient feature extraction and suboptimal performance. In this paper, we introduce a multi-stage cross-modal fusion 3D detection framework, termed CMF-IOU, to effectively address the challenge of aligning 3D spatial and 2D semantic information. Specifically, we first project the pixel information into 3D space via a depth completion network to get the pseudo points, which unifies the representation of the LiDAR and camera information. Then, a bilateral cross-view enhancement 3D backbone is designed to encode LiDAR points and pseudo points. The first sparse-to-distant (S2D) branch utilizes an encoder-decoder structure to reinforce the representation of sparse LiDAR points. The second residual view consistency (ResVC) branch is proposed to mitigate the influence of inaccurate pseudo points via both the 3D and 2D convolution processes. Subsequently, we introduce an iterative voxel-point aware fine grained pooling module, which captures the spatial information from LiDAR points and textural information from pseudo points in the proposal refinement stage. To achieve more precise refinement during iteration, an intersection over union (IoU) joint prediction branch integrated with a novel proposals generation technique is designed to preserve the bounding boxes with both high IoU and classification scores. Extensive experiments show the superior performance of our method on the KITTI, nuScenes and Waymo datasets.