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arXiv · 2301.01283

Cross Modal Transformer: Towards Fast and Robust 3D Object Detection

Junjie Yan·Yingfei Liu·Jianjian Sun·Fan Jia·Shuailin Li·Tiancai Wang·Xiangyu Zhang
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Abstract

In this paper, we propose a robust 3D detector, named Cross Modal Transformer (CMT), for end-to-end 3D multi-modal detection. Without explicit view transformation, CMT takes the image and point clouds tokens as inputs and directly outputs accurate 3D bounding boxes. The spatial alignment of multi-modal tokens is performed by encoding the 3D points into multi-modal features. The core design of CMT is quite simple while its performance is impressive. It achieves 74.1\% NDS (state-of-the-art with single model) on nuScenes test set while maintaining fast inference speed. Moreover, CMT has a strong robustness even if the LiDAR is missing. Code is released at https://github.com/junjie18/CMT.

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Junjie Yan, Yingfei Liu, Jianjian Sun, Fan Jia, Shuailin Li, Tiancai Wang, Xiangyu Zhang. 2023-01-03. Cross Modal Transformer: Towards Fast and Robust 3D Object Detection. https://arxiv.org/abs/2301.01283

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