# BiCo-Fusion: Bidirectional Complementary LiDAR-Camera Fusion for Semantic- and Spatial-Aware 3D Object Detection

Source: [BiCo-Fusion: Bidirectional Complementary LiDAR-Camera Fusion for Semantic- and Spatial-Aware 3D Object Detection](<https://www.sota2.com/research/paper/68fa795c1e209131cea7d443>)

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

Data updated: 2025-10-26T04:56:50.224Z

Authors: Yang Song, Lin Wang

Published: 2024-06-27T09:56:38.000Z

## Abstract

3D object detection is an important task that has been widely applied in autonomous driving. To perform this task, a new trend is to fuse multi-modal inputs, i.e., LiDAR and camera. Under such a trend, recent methods fuse these two modalities by unifying them in the same 3D space. However, during direct fusion in a unified space, the drawbacks of both modalities (LiDAR features struggle with detailed semantic information and the camera lacks accurate 3D spatial information) are also preserved, diluting semantic and spatial awareness of the final unified representation. To address the issue, this letter proposes a novel bidirectional complementary LiDAR-camera fusion framework, called BiCo-Fusion that can achieve robust semantic- and spatial-aware 3D object detection. The key insight is to fuse LiDAR and camera features in a bidirectional complementary way to enhance the semantic awareness of the LiDAR and the 3D spatial awareness of the camera. The enhanced features from both modalities are then adaptively fused to build a semantic- and spatial-aware unified representation. Specifically, we introduce Pre-Fusion consisting of a Voxel Enhancement Module (VEM) to enhance the semantic awareness of voxel features from 2D camera features and Image Enhancement Module (IEM) to enhance the 3D spatial awareness of camera features from 3D voxel features. We then introduce Unified Fusion (U-Fusion) to adaptively fuse the enhanced features from the last stage to build a unified representation. Extensive experiments demonstrate the superiority of our BiCo-Fusion against the prior arts. Project page: https://t-ys.github.io/BiCo-Fusion/.

## 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/2406.19048>)

[PDF](<https://arxiv.org/pdf/2406.19048.pdf>)