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MambaFusion: Height-Fidelity Dense Global Fusion for Multi-modal 3D Object Detection

MambaFusion: Height-Fidelity Dense Global Fusion for Multi-modal 3D Object Detection

来源:Arxiv_logoArxiv
英文摘要

We present the first work demonstrating that a pure Mamba block can achieve efficient Dense Global Fusion, meanwhile guaranteeing top performance for camera-LiDAR multi-modal 3D object detection. Our motivation stems from the observation that existing fusion strategies are constrained by their inability to simultaneously achieve efficiency, long-range modeling, and retaining complete scene information. Inspired by recent advances in state-space models (SSMs) and linear attention, we leverage their linear complexity and long-range modeling capabilities to address these challenges. However, this is non-trivial since our experiments reveal that simply adopting efficient linear-complexity methods does not necessarily yield improvements and may even degrade performance. We attribute this degradation to the loss of height information during multi-modal alignment, leading to deviations in sequence order. To resolve this, we propose height-fidelity LiDAR encoding that preserves precise height information through voxel compression in continuous space, thereby enhancing camera-LiDAR alignment. Subsequently, we introduce the Hybrid Mamba Block, which leverages the enriched height-informed features to conduct local and global contextual learning. By integrating these components, our method achieves state-of-the-art performance with the top-tire NDS score of 75.0 on the nuScenes validation benchmark, even surpassing methods that utilize high-resolution inputs. Meanwhile, our method maintains efficiency, achieving faster inference speed than most recent state-of-the-art methods.

Hanshi Wang、Jin Gao、Weiming Hu、Zhipeng Zhang

计算技术、计算机技术通信无线通信

Hanshi Wang,Jin Gao,Weiming Hu,Zhipeng Zhang.MambaFusion: Height-Fidelity Dense Global Fusion for Multi-modal 3D Object Detection[EB/OL].(2025-07-06)[2025-07-16].https://arxiv.org/abs/2507.04369.点此复制

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