LEF: Late-to-Early Temporal Fusion for LiDAR 3D Object Detection

Tong He,Pei Sun,Zhaoqi Leng,Chenxi Liu,Dragomir Anguelov,Mingxing Tan,Tong He,Pei Sun,Zhaoqi Leng,Chenxi Liu,Dragomir Anguelov,Mingxing Tan

We propose a late-to-early recurrent feature fusion scheme for 3D object detection using temporal LiDAR point clouds. Our main motivation is fusing object-aware latent embeddings into the early stages of a 3D object detector. This feature fusion strategy enables the model to better capture the shapes and poses for challenging objects, compared with learning from raw points directly. Our method con...