About Lidar and image fusion

[hehualin-tut]

Hello, first of all, thank you for your work. I have read your paper, do you think it is necessary to fuse image features on Lidar, but at the same time, I also know that the process of image transfer to BEV is time cost, do you think it is necessary (for nuscenes data set), Alternatively, 500 predicted location points can be projected according to calib to obtain the corresponding location neighborhood features of the image for fusion. Do you think these two ways of merging are worth it, or do you have a better way of merging or it doesn't make much sense at the moment.