arXiv Computer Vision September 23, 2026 By Xiaoyu Li, Jiajia Fu, Long Shi, Tianyu Du, Ruihang Li, Xian Wu, Lijun Zhao, Yingtao Zhang, Lining Sun, Ruifeng Li

MatchFusion: Explicit-Implicit Instance Matching for Spatio-Temporal Multimodal Autonomous Driving

Read the original on arXiv Computer Vision →

MatchFusion is a learnable module that performs explicit-implicit instance matching for spatio‑temporal multimodal autonomous driving. It initializes pairwise affinities with geometric similarity and category consistency, then refines associations using instance embeddings to guide a residual aggregation operator for adaptive information exchange. Experiments on nuScenes show that MatchFusion improves perception accuracy, reduces FLOPs by 55.3% and GPU memory usage by 39.3%, and adds only 3.7% of total perception latency.

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