FADet: A Multi-sensor 3D Object Detection Network based on Local Featured Attention

Camera, LiDAR, and radar are common perception sensors for autonomous driving tasks. Robust prediction of 3D object detection is optimally based on the fusion of these sensors. Taking advantage of their abilities remains a challenge, because each of these sensors has its own characteristics. Specifically, different sensors present different scales in their corresponding extracted features. To address this problem, considering the feature alignment in different scales, in this paper, we propose FADet, a multi-sensor 3D detection network, which specifically studies the characteristics of different sensors across the dimensions of their data input based on our local featured attention modules. For camera images, we propose a dual-attention-based submodule. For LiDAR point clouds, the triple-attention-based submodule is utilized, while the mixed-attention-based submodule is applied for features of radar points. With local featured attention submodules, our FADet has effective detection results in long-tail and complex scenes from camera, LiDAR and radar input. In the NuScenes validation dataset, FADet achieves state-of-the-art performance on LiDAR-camera object detection tasks with 71.8% NDS and 69.0% mAP, at the same time, on radar-camera object detection tasks with 51.7% NDS and 40.3% mAP.