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RLG-TPV: Radar- and LiDAR-Guided Tri-Perspective View Fusion for Camera-Radar 3D Object Detection

arXiv · AI, language, vision and robotics · article · Aug 29, 2026 · UTC

Tri-Perspective View (TPV) representations describe 3D scene structure through top, side, and front feature planes, but existing TPV lifting is primarily camera-based, leaving the depth of sampled image evidence ambiguous along projected camera rays. We propose RLG-TPV, a multimodal TPV framework for camera-radar 3D object detection in which radar and training-time LiDAR provide complementary geometric guidance during representation construction. A ray-guided deformable-attention lift weights sampled image features using LiDAR-supervised camera depth probabilities and radar frustum occupancy,

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