a Geometry-Aware Hybrid Fusion
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Geometry-Aware Fisheye-LiDAR Fusion for Robust 3D Object Detection in Low-Overlap Setups
Announce Type: new Abstract: As autonomous systems expand from capital-intensive robotaxis to cost-sensitive logistics, sensor configurations are increasingly optimized for coverage-per-cost. A prevalent sparse-view setup utilizes dual-fisheye cameras with a roof-mounted LiDAR, introducing severe geometric challenges: extreme radial distortion, minimal overlap, and misalignment between spherical projections and rectilinear grids. BEV fusion algorithms typically force image and point cloud...