# Multi-modal Streaming 3D Object Detection

Source: [Multi-modal Streaming 3D Object Detection](<https://www.sota2.com/research/paper/68fa6d641e209131cea396bb>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2025-10-26T00:32:23.745Z

Authors: Mazen Abdelfattah, Kaiwen Yuan, Z. Jane Wang, Rabab Ward

Published: 2022-09-12T00:30:52.000Z

## Abstract

Modern autonomous vehicles rely heavily on mechanical LiDARs for perception. Current perception methods generally require 360{\\deg} point clouds, collected sequentially as the LiDAR scans the azimuth and acquires consecutive wedge-shaped slices. The acquisition latency of a full scan (~ 100ms) may lead to outdated perception which is detrimental to safe operation. Recent streaming perception works proposed directly processing LiDAR slices and compensating for the narrow field of view (FOV) of a slice by reusing features from preceding slices. These works, however, are all based on a single modality and require past information which may be outdated. Meanwhile, images from high-frequency cameras can support streaming models as they provide a larger FoV compared to a LiDAR slice. However, this difference in FoV complicates sensor fusion. To address this research gap, we propose an innovative camera-LiDAR streaming 3D object detection framework that uses camera images instead of past LiDAR slices to provide an up-to-date, dense, and wide context for streaming perception. The proposed method outperforms prior streaming models on the challenging NuScenes benchmark. It also outperforms powerful full-scan detectors while being much faster. Our method is shown to be robust to missing camera images, narrow LiDAR slices, and small camera-LiDAR miscalibration.

## Recorded benchmark results

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

## Original sources and implementation

[Original paper](<https://arxiv.org/abs/2209.04966>)

[PDF](<https://arxiv.org/pdf/2209.04966.pdf>)