One camera at each end of a V2I link: cross-image routing attention lifts top-1 beam-pair accuracy by 3.15 points
CiFormer lets vehicle-side and roadside RGB images select propagation-relevant features from each other through cross-image routing attention, raising top-1 beam-pair selection accuracy to 72.41% on DuSen-BP3, 3.15 percentage points above the strongest baseline MambaOut.