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arXiv · 2607.12419

DeGuNet: Depth-Guided Ultra-Compact Backbones for Efficient LiDAR-Camera 3D Detection

Haifa Zhang·Yijing Wang·Peixi Peng·Zhiqiang Zuo
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Abstract

In autonomous driving perception, the fusion of LiDAR and camera modalities has become the dominant paradigm for 3D object detection. However, current multi-modal frameworks heavily rely on massive visual backbones pretrained on 2D semantic tasks. This reliance introduces substantial parameter redundancy and a structural misalignment, as 2D priors are ill-equipped to handle the extreme sparsity of LiDAR projections required for Bird's-Eye-View geometry. To address this, we present DeGuNet, an ultra-compact and plug-and-play image backbone explicitly designed for depth-guided representation learning. By incorporating sparsity-aware feature extraction mechanisms, DeGuNet effectively aligns multi-view images with unstructured LiDAR depth while strictly preventing invalid-region contamination. Extensive experiments on the nuScenes dataset demonstrate DeGuNet's broad plug-and-play applicability and superior efficiency. When integrated into established baselines, it fundamentally eliminates architectural redundancy, reducing GPU memory consumption by up to 66.5% and achieving a 1.16x inference speedup. Concurrently, DeGuNet delivers up to a 6.20 absolute mAP gain, establishing a new paradigm for parameter-efficient multi-modal 3D perception.

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Haifa Zhang, Yijing Wang, Peixi Peng, Zhiqiang Zuo. 2026-07-14. DeGuNet: Depth-Guided Ultra-Compact Backbones for Efficient LiDAR-Camera 3D Detection. https://arxiv.org/abs/2607.12419

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