CBG-Net: Cross-modality and cross-scale balance network with global semantics for multi-modal 3D object detection.

Multi-modal 3D object detection is instrumental in identifying and localizing objects within 3D space. It combines RGB images from cameras and point-clouds data from lidar sensors, serving as a fundamental technology for autonomous driving applications. Current methods commonly employ simplistic element-wise additions or multiplications to aggregate multi-modal features extracted from point-clouds and images.