ATN3D: Density-Aware LiDAR-Radar Early 3D Object Detection Under Extreme Sparsity

Abstract

3D object detection is the backbone of perception for automated vehicles (AV) and broader intelligent transportation systems applications. Long-range detection is challenging because sensing evidence is sparse; yet this ``long-range'' scenario is routine in traffic. Although >30m is often labeled long-range in computer vision, on roadways it affords only approx. 1-2s for perception and decision-making. Under such extreme sparsity, two core challenges arise. First, early multimodal fusion tends to discard sparsity information and inject noise from empty or falsely occupied cells, degrading long-range recall. Second, context-agnostic uniform channel supervision favors dense and near-range samples, leaving far and small objects under-optimized, delaying the earliest detection of distant objects. We propose ``Ask The Neighbor'' (ATN3D), a LiDAR-Radar framework tailored for sparse-range conditions. ATN3D introduces (i) Density-aware early fusion with cross-modal gating that conditions fusion on per-voxel density/sparsity and Radar evidence, (ii) Occupancy-gated neighborhood aggregation with circular kernels to aggregate only from credible cells, (iii) Evidence-conditioned channel self-attention to adapt channel weights with weather/range, and (iv) a Range-aware loss that re-balances classification and localization by distance, aligning training with distance-stratified evaluation. On the VoD benchmark across clear and foggy conditions, ATN3D surpasses strong baselines: +3.55% mAP in clear weather and +8.41% mAP under simulated heavy fog; for >30m objects, gains are +3.33% (clear) and +2.09% (heavy fog). These results indicate earlier and more reliable long-range detections under sparse sensing in on-road traffic.