Horizon3D: Sparse Radar-Camera Fusion for Long-Range 3D Perception in Autonomous Driving

arXiv:2606.31096v1 Announce Type: new Abstract: 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 object detail, while query-based methods are efficient but provide limited scene-level context. Temporal fusion further requires both multi-frame accumulation for sparse dist...