traffic target association

[cycyc1949]

The current framework is to detect the target through the image and then confirm the target from the point cloud. Is it possible to detect the 3d target through the point cloud, and then cluster the target through the point cloud, and associate the two results. The advantage of this is that both the image and the point cloud can be associated with the point cloud clustering result through the model or even a model detection output 3d box. Can this be achieved?