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CMDFusion: Bidirectional Fusion Network With Cross-Modality Knowledge Distillation for LiDAR Semantic Segmentation
2D RGB images and 3D LIDAR point clouds provide complementary knowledge for the perception system of autonomous vehicles. Several 2D and 3D fusion methods have been explored for the LIDAR semantic segmentation task, but they suffer from different problems. 2D-to-3D fusion methods require strictly paired data during inference, which may …