The KITTI Vision Benchmark Suite

We propose ViKIENet (Virtual Key Instance Enhanced
Network), a highly efficient and effective multi-
modal feature fusion framework which fuses the
features of virtual key instances (VKIs) with
those of LiDAR points in multiple stages. We
observed that using only VKIs can enhance the
detection performance similar to using all virtual
points. ViKIENet has three main components:
Semantic Key Instance Selection (SKIS), Virtual
Instance Focused Fusion (VIFF) and Virtual-
Instance-to-Real Attention (VIRA). ViKIENet-R and
VIFF-R are extended versions of ViKIENet and VIFF
that include rotationally equivariant features.

TBD

@InProceedings{Yu_2025_CVPR,
author = {Yu, Zhuochen and Qiu, Bijie and
Khong, Andy W. H.},
title = {ViKIENet: Towards Efficient 3D
Object Detection with Virtual Key Instance
Enhanced Network},
booktitle = {CVPR},
month = {June},
year = {2025},
pages = {11844-11853}
}