mlsanityData to 14 Oct 2026

Sensor Fusion for Joint 3D Object Detection and Semantic Segmentation

arXiv 1904.11466 ↗First posted 25 Apr 2019cs.CV cs.LG cs.ROcited by 48

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Abstract (arXiv)

In this paper, we present an extension to LaserNet, an efficient and state-of-the-art LiDAR based 3D object detector. We propose a method for fusing image data with the LiDAR data and show that this sensor fusion method improves the detection performance of the model especially at long ranges. The addition of image data is straightforward and does not require image labels. Furthermore, we expand the capabilities of the model to perform 3D semantic segmentation in addition to 3D object detection. On a large benchmark dataset, we demonstrate our approach achieves state-of-the-art performance on both object detection and semantic segmentation while maintaining a low runtime.

Key facts. Cited by 48 papers in the map (data through 14 Oct 2026). First posted on arXiv 25 Apr 2019.

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Citing papers per year: 2021: 12; 2022: 19; 2023: 4; 2024: 7; 2025: 5; 2026: 1.

48 papers.

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  1. 2023End-to-end Autonomous Driving: Challenges and Frontierscited by 490
  2. 2022TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Drivingcited by 485
  3. 2022TransFusion: Robust LiDAR-Camera Fusion for 3D Object Detection with Transformerscited by 466
  4. 2021Multi-Modal Fusion Transformer for End-to-End Autonomous Drivingcited by 377
  5. 20222DPASS: 2D Priors Assisted Semantic Segmentation on LiDAR Point Cloudscited by 158
  6. 2021Offboard 3D Object Detection from Point Cloud Sequencescited by 145
  7. 20223D Object Detection for Autonomous Driving: A Comprehensive Surveycited by 132
  8. 2022Multi-modal Sensor Fusion for Auto Driving Perception: A Surveycited by 76
  9. 2022MM-TTA: Multi-Modal Test-Time Adaptation for 3D Semantic Segmentationcited by 76
  10. 2021EPMF: Efficient Perception-aware Multi-sensor Fusion for 3D Semantic Segmentationcited by 59
  11. 2021Cross-modal Learning for Domain Adaptation in 3D Semantic Segmentationcited by 40
  12. 2022HRFuser: A Multi-resolution Sensor Fusion Architecture for 2D Object Detectioncited by 31
36 more
  1. 2021Deep Learning Based 3D Segmentation: A Surveycited by 30
  2. 2023Complementing Onboard Sensors with Satellite Map: A New Perspective for HD Map Constructioncited by 28
  3. 2022Homogeneous Multi-modal Feature Fusion and Interaction for 3D Object Detectioncited by 26
  4. 2022Let Images Give You More:Point Cloud Cross-Modal Training for Shape Analysiscited by 24
  5. 2024Multimodality Helps Few-shot 3D Point Cloud Semantic Segmentationcited by 20
  6. 2021MVFuseNet: Improving End-to-End Object Detection and Motion Forecasting through Multi-View Fusion of LiDAR Datacited by 18
  7. 2021Revisiting 3D Object Detection From an Egocentric Perspectivecited by 18
  8. 2022Learning to Simulate Realistic LiDARscited by 16
  9. 2022Image Understands Point Cloud: Weakly Supervised 3D Semantic Segmentation via Association Learningcited by 15
  10. 2022FusionRCNN: LiDAR-Camera Fusion for Two-stage 3D Object Detectioncited by 14
  11. 2022Far3Det: Towards Far-Field 3D Detectioncited by 7
  12. 2024M2DA: Multi-Modal Fusion Transformer Incorporating Driver Attention for Autonomous Drivingcited by 7
  13. 2024Robust 3D Semantic Occupancy Prediction with Calibration-free Spatial Transformationcited by 7
  14. 2021VIN: Voxel-based Implicit Network for Joint 3D Object Detection and Segmentation for Lidarscited by 6
  15. 2022Real-Time Multi-Modal Semantic Fusion on Unmanned Aerial Vehicles with Label Propagation for Cross-Domain Adaptationcited by 6
  16. 2021Towards Single Stage Weakly Supervised Semantic Segmentationcited by 5
  17. 2025A Survey of Multi-sensor Fusion Perception for Embodied AI: Background, Methods, Challenges and Prospectscited by 5
  18. 2021Investigating the Effect of Sensor Modalities in Multi-Sensor Detection-Prediction Modelscited by 3
  19. 2022Survey and Systematization of 3D Object Detection Models and Methodscited by 3
  20. 2022Learning Scene Flow in 3D Point Clouds with Noisy Pseudo Labelscited by 3
  21. 2025SAM-guided Pseudo Label Enhancement for Multi-modal 3D Semantic Segmentationcited by 3
  22. 2025Integrating Multi-Modal Sensors: A Review of Fusion Techniques for Intelligent Vehiclescited by 3
  23. 2021Fast and Accurate: Video Enhancement using Sparse Depthcited by 2
  24. 2023OccupancyDETR: Using DETR for Mixed Dense-sparse 3D Occupancy Predictioncited by 2
  25. 2024SpotNet: An Image Centric, Lidar Anchored Approach To Long Range Perceptioncited by 2
  26. 2022Multi-level and multi-modal feature fusion for accurate 3D object detection in Connected and Automated Vehiclescited by 1
  27. 2023A survey on deep learning approaches for data integration in autonomous driving systemcited by 1
  28. 2024TraIL-Det: Transformation-Invariant Local Feature Networks for 3D LiDAR Object Detection with Unsupervised Pre-Trainingcited by 1
  29. 2024CLAP: Unsupervised 3D Representation Learning for Fusion 3D Perception via Curvature Sampling and Prototype Learningcited by 1
  30. 2025Point-Plane Projections for Accurate LiDAR Semantic Segmentation in Small Data Scenarioscited by 1
  31. 2021Real-Time Multi-Modal Semantic Fusion on Unmanned Aerial Vehiclescited by 0
  32. 2022Comparative study of 3D object detection frameworks based on LiDAR data and sensor fusion techniquescited by 0
  33. 2022Deep Sensor Fusion with Pyramid Fusion Networks for 3D Semantic Segmentationcited by 0
  34. 2024Cross-Domain Spatial Matching for Camera and Radar Sensor Data Fusion in Autonomous Vehicle Perception Systemcited by 0
  35. 2025Domain Adaptation-Based Crossmodal Knowledge Distillation for 3D Semantic Segmentationcited by 0
  36. 2026CRUISE: Vision-Language Model-Guided Uncertainty-Aware Cross-Modal Sensor Fusion for Robust Autonomous Drivingcited by 0