arxivcs.CV2026-06-30
Horizon3D: Sparse Radar-Camera Fusion for Long-Range 3D Perception in Autonomous Driving
Geonho Bang, Geunju Baek, Dongyoung Lee, Wonjun Jeong, Jun Won Choi
Long-range 3D object detection is critical for safe autonomous driving at highway speeds, yet existing radar-camera fusion methods remain limited at extended ranges. BEV-based methods capture scene-level context but incur rapidly growing computation and often lose fine-grained ob…