SemanticBEVFusion: Rethink LiDAR-Camera Fusion in Unified Bird's-Eye View Representation for 3D Object Detection

LiDAR and camera are two essential sensors for 3D object detection in autonomous driving. LiDAR provides accurate and reliable 3D geometry information while the camera provides rich texture with color. Despite the increasing popularity of fusing these two complementary sensors, the challenge remains in how to effectively fuse 3D LiDAR point cloud with 2D camera images. Recent methods focus on point-level fusion which paints the LiDAR point cloud with camera features in the perspective view or bird's-eye view (BEV)-level fusion which unifies multi-modality features in the BEV representation. In this paper, we rethink these previous fusion strategies and analyze their information loss and influences on geometric and semantic features. We present SemanticBEVFusion to deeply fuse camera features with LiDAR features in a unified BEV representation while maintaining per-modality strengths for 3D object detection. Our method achieves state-of-the-art performance on the large-scale nuScenes dataset, especially for challenging distant objects. The code will be made publicly available.Comment: The first two authors contributed equally to this wor

Connection between inverse engineering and optimal control in shortcuts to adiabaticity

We consider fast high-fidelity quantum control by using a shortcut to adiabaticity (STA) technique and optimal control theory (OCT). Three specific examples, including expansion of cold atoms from the harmonic trap, atomic transport by moving harmonic trap, and spin dynamics in the presence of dissipation, are explicitly detailed. Using OCT as a qualitative guide, we demonstrate how STA protocols designed from inverse engineering method, can approach with very high precision optimal solutions built about physical constraints, by a proper choice of the interpolation function and with a very reduced number of adjustable parameters.Comment: 23 pages, 16 figure

Di-μ-chlorido-bis­(chlorido{2,2′-[3-(1H-imidazol-4-ylmeth­yl)-3-aza­pentane-1,5-di­yl]diphthalimide}copper(II))

The centrosymmetric dinuclear CuII complex, [Cu2Cl4(C24H21N5O4)2], was synthesized by the reaction of CuCl2·2H2O with the tripodal ligand 2,2′-[3-(1H-imid­azol-4-ylmeth­yl)-3-aza­pentane-1,5-di­yl]diphthalimide (L). Each of the CuII ions is coordinated by two N atoms from the ligand, two bridging Cl atoms and one terminal Cl atom. The CuII coordination can be best be described as a transition state between four- and five-coordination, since one of the bridging Cl atoms has a much longer Cu—Cl bond distance [2.7069 (13) Å] than the other [2.2630 (12) Å]. In addition, the Cu⋯Cu distance is 3.622 (1) Å. The three-dimensional structrure is generated by N—H⋯O, C—H⋯O and C—H⋯Cl hydrogen bonds and π–π inter­actions [centroid–centroid distances = 3.658 (4) and 4.020 (4) Å]