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Multi-Modal Fusion Transformer for End-to-End Autonomous Driving
[article]
2021
arXiv
pre-print
How should representations from complementary sensors be integrated for autonomous driving? Geometry-based sensor fusion has shown great promise for perception tasks such as object detection and motion forecasting. However, for the actual driving task, the global context of the 3D scene is key, e.g. a change in traffic light state can affect the behavior of a vehicle geometrically distant from that traffic light. Geometry alone may therefore be insufficient for effectively fusing
arXiv:2104.09224v1
fatcat:au3nqx7kwfds7kqymx2jceq5ga