Abstract
Multi-modal 3D understanding is a fundamental task in computer vision. Previous multi-modal fusion methods typically employ a single, dense fusion network, struggling to handle the significant heterogeneity and complexity across modalities, leading to suboptimal performance. In this paper, we propose MoE3D, which integrates Mixture of Experts (MoE) into the multi-modal learning framework. The core is that we deploy a set of specialized "expert" networks, each adept at processing a specific modality or a mode of cross-modal interaction. Specifically, the MoE-based transformer is designed to better utilize the complementary information hidden in the visual features. Information aggregation module is put forward to further enhance the fusion performance. Top-1 gating is employed to make one expert process features with expert groups, ensuring high efficiency. We further propose a progressive pre-training strategy to better leverage the semantic and 2D prior, thus equipping the network wit