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Multi-Task Multi-Sensor Fusion for 3D Object Detection

Multi-Task Multi-Sensor Fusion for 3D Object DetectionMing Liang1 Bin Yang1,2 Yun Chen1 Rui Hu1 Raquel Urtasun1,21 Uber Advanced Technologies Group2 University of Toronto{ , byang10, , , this paper we propose to exploit multiple related tasksfor accurate Multi-Sensor 3D Object Detection . Towards thisgoal we present an end-to-end learnable architecture thatreasons about 2D and 3D Object Detection as well as groundestimation and depth completion. Our experiments showthat all these tasks are complementary and help the net-work learn better representations by fusing information atvarious levels.}

pose a multi-task multi-sensor fusion model for the task of 3D object detection. We refer the reader to Figure 2 for an illustration of the model architecture. Our approach has the following highlights. First, we design a multi-sensor ar-chitecture that combines point-wise and ROI-wise feature fusion. Second, our integrated ground estimation module

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