多模态信息融合 - arXivDaily 专题

2307.14540 2023-07-28 cs.CR 67%

Lateral-Direction Localization Attack in High-Level Autonomous Driving: Domain-Specific Defense Opportunity via Lane Detection

Junjie Shen, Yunpeng Luo, Ziwen Wan, Qi Alfred Chen

专题命中自动驾驶多传感器融合：sensor fusion(abstract)；multi-sensor fusion(abstract)

2207.08556 2022-07-19 cs.CR stat.ML 67%

A Certifiable Security Patch for Object Tracking in Self-Driving Systems via Historical Deviation Modeling

Xudong Pan, Qifan Xiao, Mi Zhang, Min Yang

专题命中自动驾驶多传感器融合：sensor fusion(abstract)；multi-sensor fusion(abstract)

2004.01288 2020-04-06 cs.RO cs.CV eess.IV 67%

Extraction and Assessment of Naturalistic Human Driving Trajectories from Infrastructure Camera and Radar Sensors

Dominik Notz, Felix Becker, Thomas Kühbeck, Daniel Watzenig

专题命中自动驾驶多传感器融合：sensor fusion(abstract)；分类 cs.CV、eess.IV、cs.RO

Comments 8 pages, 9 figures

2608.16966 2026-08-19 cs.CV cs.RO 新提交 62%

Multi-Observer Vehicle Localization Case Study with Roadside Radar and Connected Vehicle Sensing

基于路侧雷达与网联车辆感知的多观测器车辆定位案例研究

Aleksi Pippuri, Nilusha Jayawickrama, Risto Ojala

机构 * Aalto University（阿尔托大学）

专题命中自动驾驶多传感器融合：decision-level fusion(abstract)；分类 cs.CV、cs.RO

AI总结本文提出融合路侧雷达与网联车辆感知的多观测器车辆定位框架，经实测数据验证，其性能受场景影响，AEKF可小幅优于仅用LiDAR的基线，相关成果与代码已开源。

Comments 12 pages, 7 figures and 8 tables

2606.08844 2026-06-09 cs.CV cs.RO 新提交 62%

Geometry-Aware Fisheye-LiDAR Fusion for Robust 3D Object Detection in Low-Overlap Setups

几何感知鱼眼-激光雷达融合用于低重叠设置下的鲁棒3D目标检测

Xiangzhong Liu, Xihao Wang, Hao Shen

机构 * Technical University of Munich（慕尼黑工业大学）

专题命中自动驾驶多传感器融合：hybrid fusion(abstract)；分类 cs.CV、cs.RO

AI总结针对稀疏视角下鱼眼相机与激光雷达的几何畸变和低重叠问题，提出几何感知混合融合框架，通过畸变感知LSS模块和双注意力校正模块实现极坐标与笛卡尔特征融合，在三个基准上提升检测精度。

Comments 8 pages, 4 figures, submitted to RA-L

2605.10177 2026-05-12 cs.CV cs.AI cs.RO 62%

MTA-RL: Robust Urban Driving via Multi-modal Transformer-based 3D Affordances and Reinforcement Learning

MTA-RL：通过多模态Transformer-based 3D affordances和强化学习实现鲁棒的城市驾驶

Guangli Chen, Dianzhao Li, Wenjian Zhong, Bangquan Xie, Ostap Okhrin

机构 * Dongguan Key Laboratory of Intelligent Equipment and Smart Industry, School of Advanced Engineering, Great Bay University（东莞智能装备与智能制造重点实验室，先进工程学院，大湾大学）； Chair of Applied Statistics, Technische Universität Dresden（应用统计学教授职位，德累斯顿技术大学）； Center for Scalable Data Analytics and Artificial Intelligence (ScaDS.AI)（可扩展数据解析与人工智能中心（ScaDS.AI））； College of Automation, Guangdong University of Technology（自动化学院，广东技术大学）

专题命中自动驾驶多传感器融合：multi-modal fusion(abstract)；分类 cs.CV、cs.RO

AI总结本文提出MTA-RL框架，通过多模态Transformer-based 3D affordances和强化学习实现可靠的城市自动驾驶，提升样本效率和稳定性，优于现有基线方法。

2512.02448 2026-03-25 cs.CV cs.RO 62%

nuScenes Revisited: Progress and Challenges in Autonomous Driving

nuScenes 重新审视：自动驾驶领域的进展与挑战

Whye Kit Fong, Venice Erin Liong, Kok Seang Tan, Holger Caesar

专题命中自动驾驶多传感器融合：sensor fusion(abstract)；分类 cs.CV、cs.RO

AI总结本文重新审视nuScenes数据集，探讨其在自动驾驶发展中的核心作用，分析其技术细节及对后续研究的影响，总结多模态传感器融合与标准化评估的关键贡献。

Comments 18 pages, 17 figures

2603.08611 2026-03-10 cs.CV cs.RO 62%

FOMO-3D: Using Vision Foundation Models for Long-Tailed 3D Object Detection

FOMO-3D：利用视觉基础模型进行长尾3D目标检测

Anqi Joyce Yang, James Tu, Nikita Dvornik, Enxu Li, Raquel Urtasun

机构 * Waabi ； University of Toronto（多伦多大学）

专题命中自动驾驶多传感器融合：multi-modal fusion(abstract)；分类 cs.CV、cs.RO

AI总结 FOMO-3D通过利用视觉基础模型的丰富先验知识和多模态融合设计，提升长尾3D目标检测的性能。

Comments Published at 9th Annual Conference on Robot Learning (CoRL 2025)

2601.09952 2026-01-16 cs.CV cs.RO 62%

OT-Drive: Out-of-Distribution Off-Road Traversable Area Segmentation via Optimal Transport

OT-Drive: 基于最优传输的离群分布越野可通行区域分割

Zhihua Zhao, Guoqiang Li, Chen Min, Kangping Lu

机构 * School of Mechanical Engineering, Beijing Institute of Technology（北京理工大学机械工程学院）； Institute of Computing Technology, Chinese Academy of Sciences（中国科学院计算技术研究所）； Shandong Pengxiang Automobile Co., Ltd（山东鹏翔汽车有限公司）

专题命中自动驾驶多传感器融合：multi-modal fusion(abstract)；分类 cs.CV、cs.RO

AI总结 OT-Drive通过最优传输方法实现离群分布越野可通行区域分割，提升自动驾驶在复杂环境下的鲁棒性和泛化能力。

Comments 9 pages, 8 figures, 6 tables. This work has been submitted to the IEEE for possible publication. Code will be released upon acceptance

2512.13177 2025-12-17 cs.CV cs.RO 62%

MMDrive: Interactive Scene Understanding Beyond Vision with Multi-representational Fusion

MMDrive: 通过多表示融合超越视觉的交互场景理解

Minghui Hou, Wei-Hsing Huang, Shaofeng Liang, Daizong Liu, Tai-Hao Wen, Gang Wang, Runwei Guan, Weiping Ding

机构 * organization= College of Computer Science ； Technology, Jilin University , city= Changchun , country= China ； organization= Georgia Institute of Technology , city= Atlanta , country= USA ； organization= Qingdao Institute of Software, College of Computer Science ； Technology, China University of Petroleum (East China) , city= Qingdao , country= China ； organization= Institute for Math \& AI, Wuhan University , city= Wuhan , country= China ； organization= University of Michigan, Ann Arbor , country= USA ； organization= Thrust of Artificial Intelligence, Hong Kong University of Science ； organization= School of Artificial Intelligence ； Computer Science, Nantong University , city= Nantong , country= China

专题命中自动驾驶多传感器融合：information fusion(abstract)；分类 cs.CV、cs.RO

AI总结 MMDrive通过融合占用图、LiDAR点云和文本描述，实现超越视觉的三维场景理解，提升自动驾驶的多模态推理能力。

2509.20757 2025-11-18 cs.RO cs.CV 62%

MASt3R-Fusion: Integrating Feed-Forward Visual Model with IMU, GNSS for High-Functionality SLAM

Yuxuan Zhou, Xingxing Li, Shengyu Li, Zhuohao Yan, Chunxi Xia, Shaoquan Feng

机构 * School of Geodesy and Geomatics, Wuhan University（武汉大学测绘学院）

专题命中自动驾驶多传感器融合：information fusion(abstract)；分类 cs.CV、cs.RO

2509.05728 2025-10-01 cs.CV cs.AI cs.LG cs.RO 62%

LiDAR-BIND-T: Improved and Temporally Consistent Sensor Modality Translation and Fusion for Robotic Applications

Niels Balemans, Ali Anwar, Jan Steckel, Siegfried Mercelis

机构 * IDLab - Faculty of Applied Engineering, University of Antwerp - imec（IDLab - 应用工程学院，安特卫普大学 - imec）； Cosys-Lab - Faculty of Applied Engineering, University of Antwerp（Cosys-Lab - 应用工程学院，安特卫普大学）； Flanders Make Strategic Research Centre（弗拉芒制造战略研究中心）

专题命中自动驾驶多传感器融合：multi-modal fusion(abstract)；分类 cs.CV、cs.RO

2509.11082 2025-09-16 cs.CV cs.RO 62%

Mars Traversability Prediction: A Multi-modal Self-supervised Approach for Costmap Generation

Zongwu Xie, Kaijie Yun, Yang Liu, Yiming Ji, Han Li

机构 * State Key Laboratory of Robotics and Systems, Harbin Institute of Technology（机器人系统国家重点实验室，哈尔滨工业大学）

专题命中自动驾驶多传感器融合：sensor fusion(abstract)；分类 cs.CV、cs.RO

2501.11260 2025-09-11 cs.RO cs.CV 62%

A Survey of World Models for Autonomous Driving

Tuo Feng, Wenguan Wang, Yi Yang

机构 * Collaborative Innovation Center of Artificial Intelligence (CCAI), Zhejiang University（人工智能协同创新中心（CCAI）、浙江大学）

专题命中自动驾驶多传感器融合：multimodal fusion(abstract)；分类 cs.CV、cs.RO

Comments Ongoing project. Paper list: https://github.com/FengZicai/AwesomeWMAD Benchmark: https://github.com/FengZicai/WMAD-Benchmarks

2507.20217 2025-07-30 cs.RO cs.AI cs.CV 62%

Humanoid Occupancy: Enabling A Generalized Multimodal Occupancy Perception System on Humanoid Robots

Wei Cui, Haoyu Wang, Wenkang Qin, Yijie Guo, Gang Han, Wen Zhao, Jiahang Cao, Zhang Zhang, Jiaru Zhong, Jingkai Sun, Pihai Sun, Shuai Shi, Botuo Jiang, Jiahao Ma, Jiaxu Wang, Hao Cheng, Zhichao Liu, Yang Wang, Zheng Zhu, Guan Huang, Jian Tang, Qiang Zhang

机构 * X-Humanoid ； GigaAI Project（GigaAI项目）

专题命中自动驾驶多传感器融合：multi-modal fusion(abstract)；分类 cs.CV、cs.RO

Comments Tech Report

2507.01059 2025-07-03 cs.MA cs.AI cs.CL cs.CV cs.RO 62%

Automated Vehicles Should be Connected with Natural Language

Xiangbo Gao, Keshu Wu, Hao Zhang, Kexin Tian, Yang Zhou, Zhengzhong Tu

机构 * Texas A&M University（德克萨斯农工大学）

专题命中自动驾驶多传感器融合：decision-level fusion(abstract)；分类 cs.CV、cs.RO

2504.01040 2025-06-10 cs.CV cs.RO 62%

Cal or No Cal? -- Real-Time Miscalibration Detection of LiDAR and Camera Sensors

Ilir Tahiraj, Jeremialie Swadiryus, Felix Fent, Markus Lienkamp

机构 * Technical University of Munich（慕尼黑技术大学）

专题命中自动驾驶多传感器融合：sensor fusion(abstract)；分类 cs.CV、cs.RO

2506.02554 2025-06-04 cs.RO cs.AI cs.CV cs.LG 62%

HiLO: High-Level Object Fusion for Autonomous Driving using Transformers

Timo Osterburg, Franz Albers, Christopher Diehl, Rajesh Pushparaj, Torsten Bertram

机构 * Institute of Control Theory and Systems Engineering, TU Dortmund University（控制理论与系统工程研究所，杜伊斯堡-埃森大学）

专题命中自动驾驶多传感器融合：feature-level fusion(abstract)；分类 cs.CV、cs.RO

Comments 6 pages, accepted at IEEE Intelligent Vehicles Symposium (IV) 2025

2411.02624 2025-04-07 cs.CV cs.AI cs.RO 62%

Enhancing Indoor Mobility with Connected Sensor Nodes: A Real-Time, Delay-Aware Cooperative Perception Approach

Minghao Ning, Yaodong Cui, Yufeng Yang, Shucheng Huang, Zhenan Liu, Ahmad Reza Alghooneh, Ehsan Hashemi, Amir Khajepour

专题命中自动驾驶多传感器融合：LiDAR camera fusion(abstract)；分类 cs.CV、cs.RO

Journal ref 2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC)

2502.01894 2025-03-28 cs.CV cs.LG cs.RO 62%

SimBEV: A Synthetic Multi-Task Multi-Sensor Driving Data Generation Tool and Dataset

Goodarz Mehr, Azim Eskandarian

专题命中自动驾驶多传感器融合：sensor fusion(abstract)；分类 cs.CV、cs.RO

2406.12214 2024-10-23 cs.RO cs.CV 62%

Is Your HD Map Constructor Reliable under Sensor Corruptions?

Xiaoshuai Hao, Mengchuan Wei, Yifan Yang, Haimei Zhao, Hui Zhang, Yi Zhou, Qiang Wang, Weiming Li, Lingdong Kong, Jing Zhang

专题命中自动驾驶多传感器融合：multi-modal fusion(abstract)；分类 cs.CV、cs.RO

Comments NeurIPS 2024; 40 pages, 17 figures, 23 tables; Code at https://mapbench.github.io/

2309.07808 2024-09-13 cs.CV cs.AI cs.LG cs.RO 62%

What Matters to Enhance Traffic Rule Compliance of Imitation Learning for End-to-End Autonomous Driving

Hongkuan Zhou, Wei Cao, Aifen Sui, Zhenshan Bing

专题命中自动驾驶多传感器融合：sensor fusion(abstract)；分类 cs.CV、cs.RO

Comments 14 pages, 3 figures

2404.17793 2024-09-10 cs.CV cs.RO 62%

CLFT: Camera-LiDAR Fusion Transformer for Semantic Segmentation in Autonomous Driving

Junyi Gu, Mauro Bellone, Tomáš Pivoňka, Raivo Sell

专题命中自动驾驶多传感器融合：sensor fusion(abstract)；分类 cs.CV、cs.RO

Comments Accepted to IEEE Transactions on Intelligent Vehicles

2404.06256 2024-04-10 cs.CV cs.RO 62%

Label-Efficient 3D Object Detection For Road-Side Units

Minh-Quan Dao, Holger Caesar, Julie Stephany Berrio, Mao Shan, Stewart Worrall, Vincent Frémont, Ezio Malis

专题命中自动驾驶多传感器融合：information fusion(abstract)；分类 cs.CV、cs.RO

Comments IV 2024

2404.04492 2024-04-09 cs.RO cs.AI cs.CV 62%

Automated Lane Change Behavior Prediction and Environmental Perception Based on SLAM Technology

Han Lei, Baoming Wang, Zuwei Shui, Peiyuan Yang, Penghao Liang

专题命中自动驾驶多传感器融合：sensor fusion(abstract)；分类 cs.CV、cs.RO

2304.10410 2023-11-27 cs.CV cs.AI cs.RO 62%

Radar-Camera Fusion for Object Detection and Semantic Segmentation in Autonomous Driving: A Comprehensive Review

Shanliang Yao, Runwei Guan, Xiaoyu Huang, Zhuoxiao Li, Xiangyu Sha, Yong Yue, Eng Gee Lim, Hyungjoon Seo, Ka Lok Man, Xiaohui Zhu, Yutao Yue

专题命中自动驾驶多传感器融合：sensor fusion(abstract)；分类 cs.CV、cs.RO

Comments Accepted by IEEE Transactions on Intelligent Vehicles (T-IV)

Journal ref IEEE Transactions on Intelligent Vehicles 2023

2311.10261 2023-11-20 cs.CV eess.SP 62%

Vision meets mmWave Radar: 3D Object Perception Benchmark for Autonomous Driving

Yizhou Wang, Jen-Hao Cheng, Jui-Te Huang, Sheng-Yao Kuan, Qiqian Fu, Chiming Ni, Shengyu Hao, Gaoang Wang, Guanbin Xing, Hui Liu, Jenq-Neng Hwang

专题命中自动驾驶多传感器融合：sensor fusion(abstract)；分类 cs.CV、eess.SP

2305.02008 2023-10-24 cs.CV cs.LG cs.RO 62%

Zenseact Open Dataset: A large-scale and diverse multimodal dataset for autonomous driving

Mina Alibeigi, William Ljungbergh, Adam Tonderski, Georg Hess, Adam Lilja, Carl Lindstrom, Daria Motorniuk, Junsheng Fu, Jenny Widahl, Christoffer Petersson

专题命中自动驾驶多传感器融合：sensor fusion(abstract)；分类 cs.CV、cs.RO

Comments International Conference on Computer Vision (ICCV) 2023

2303.09800 2023-10-12 cs.CV cs.AI cs.RO 62%

GOOD: General Optimization-based Fusion for 3D Object Detection via LiDAR-Camera Object Candidates

Bingqi Shen, Shuwei Dai, Yuyin Chen, Rong Xiong, Yue Wang, Yanmei Jiao

专题命中自动驾驶多传感器融合：multi-modal fusion(abstract)；分类 cs.CV、cs.RO

2301.12592 2023-10-02 cs.LG cs.AI cs.CV cs.RO 62%

Ensemble Learning for Fusion of Multiview Vision with Occlusion and Missing Information: Framework and Evaluations with Real-World Data and Applications in Driver Hand Activity Recognition

Ross Greer, Mohan Trivedi

专题命中自动驾驶多传感器融合：sensor fusion(abstract)；分类 cs.CV、cs.RO

1. 自动驾驶多传感器融合 261 篇

Lateral-Direction Localization Attack in High-Level Autonomous Driving: Domain-Specific Defense Opportunity via Lane Detection

A Certifiable Security Patch for Object Tracking in Self-Driving Systems via Historical Deviation Modeling

Extraction and Assessment of Naturalistic Human Driving Trajectories from Infrastructure Camera and Radar Sensors

Multi-Observer Vehicle Localization Case Study with Roadside Radar and Connected Vehicle Sensing

Geometry-Aware Fisheye-LiDAR Fusion for Robust 3D Object Detection in Low-Overlap Setups

MTA-RL: Robust Urban Driving via Multi-modal Transformer-based 3D Affordances and Reinforcement Learning

nuScenes Revisited: Progress and Challenges in Autonomous Driving

FOMO-3D: Using Vision Foundation Models for Long-Tailed 3D Object Detection

OT-Drive: Out-of-Distribution Off-Road Traversable Area Segmentation via Optimal Transport

MMDrive: Interactive Scene Understanding Beyond Vision with Multi-representational Fusion

MASt3R-Fusion: Integrating Feed-Forward Visual Model with IMU, GNSS for High-Functionality SLAM

LiDAR-BIND-T: Improved and Temporally Consistent Sensor Modality Translation and Fusion for Robotic Applications

Mars Traversability Prediction: A Multi-modal Self-supervised Approach for Costmap Generation

A Survey of World Models for Autonomous Driving

Humanoid Occupancy: Enabling A Generalized Multimodal Occupancy Perception System on Humanoid Robots

Automated Vehicles Should be Connected with Natural Language

Cal or No Cal? -- Real-Time Miscalibration Detection of LiDAR and Camera Sensors

HiLO: High-Level Object Fusion for Autonomous Driving using Transformers

Enhancing Indoor Mobility with Connected Sensor Nodes: A Real-Time, Delay-Aware Cooperative Perception Approach

SimBEV: A Synthetic Multi-Task Multi-Sensor Driving Data Generation Tool and Dataset

Is Your HD Map Constructor Reliable under Sensor Corruptions?

What Matters to Enhance Traffic Rule Compliance of Imitation Learning for End-to-End Autonomous Driving

CLFT: Camera-LiDAR Fusion Transformer for Semantic Segmentation in Autonomous Driving

Label-Efficient 3D Object Detection For Road-Side Units

Automated Lane Change Behavior Prediction and Environmental Perception Based on SLAM Technology

Radar-Camera Fusion for Object Detection and Semantic Segmentation in Autonomous Driving: A Comprehensive Review

Vision meets mmWave Radar: 3D Object Perception Benchmark for Autonomous Driving

Zenseact Open Dataset: A large-scale and diverse multimodal dataset for autonomous driving

GOOD: General Optimization-based Fusion for 3D Object Detection via LiDAR-Camera Object Candidates

Ensemble Learning for Fusion of Multiview Vision with Occlusion and Missing Information: Framework and Evaluations with Real-World Data and Applications in Driver Hand Activity Recognition