# MVFusion: Multi-View 3D Object Detection with Semantic-aligned Radar and Camera Fusion Source: [MVFusion: Multi-View 3D Object Detection with Semantic-aligned Radar and Camera Fusion]() Collection index: [llms.txt]() Data updated: 2026-01-04T04:13:01.627Z Authors: Zizhang Wu, Guilian Chen, Yuanzhu Gan, Lei Wang, Jian Pu Published: 2023-02-21T08:25:50.000Z ## Abstract Multi-view radar-camera fused 3D object detection provides a farther detection range and more helpful features for autonomous driving, especially under adverse weather. The current radar-camera fusion methods deliver kinds of designs to fuse radar information with camera data. However, these fusion approaches usually adopt the straightforward concatenation operation between multi-modal features, which ignores the semantic alignment with radar features and sufficient correlations across modals. In this paper, we present MVFusion, a novel Multi-View radar-camera Fusion method to achieve semantic-aligned radar features and enhance the cross-modal information interaction. To achieve so, we inject the semantic alignment into the radar features via the semantic-aligned radar encoder (SARE) to produce image-guided radar features. Then, we propose the radar-guided fusion transformer (RGFT) to fuse our radar and image features to strengthen the two modals' correlation from the global scope via the cross-attention mechanism. Extensive experiments show that MVFusion achieves state-of-the-art performance (51.7% NDS and 45.3% mAP) on the nuScenes dataset. We shall release our code and trained networks upon publication. ## 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. - [3D Object Detection on nuScenes v1.0 (val)](): 3D Object Detection; nuScenes v1.0 (val); mAP (Overall): 42.1. - [3D Object Detection on nuScenes v1.0-trainval (val)](): 3D Object Detection; nuScenes v1.0-trainval (val); NDS: 45.5. - [3D Object Detection on nuScenes v1.0 (test)](): 3D Object Detection; NuScenes v1.0 (test); mAP: 45.3. - [3D Object Detection on nuScenes (test)](): 3D Object Detection; nuScenes (test); mAP: 45.3. - [3D Object Detection on nuScenes (val)](): 3D Object Detection; nuScenes (val); NDS: 45.5. ## Original sources and implementation [Original paper]() [PDF]()