# Pay "Attention" to Adverse Weather: Weather-aware Attention-based Object Detection

arXiv: https://arxiv.org/abs/2204.10803 · HTML: https://mlsanity.com/paper/2204.10803/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- Builds on 11 of its 19 references that are in the map.
- First posted on arXiv 22 Apr 2022.

## Builds on (most cited first, 11 of 11)

- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [Adversarial Discriminative Domain Adaptation](https://mlsanity.com/paper/1702.05464/) (2017)
- [CyCADA: Cycle-Consistent Adversarial Domain Adaptation](https://mlsanity.com/paper/1711.03213/) (2017)
- [Multi-View 3D Object Detection Network for Autonomous Driving](https://mlsanity.com/paper/1611.07759/) (2016)
- [Frustum PointNets for 3D Object Detection from RGB-D Data](https://mlsanity.com/paper/1711.08488/) (2017)
- [Joint 3D Proposal Generation and Object Detection from View Aggregation](https://mlsanity.com/paper/1712.02294/) (2017)
- [Attentional Feature Fusion](https://mlsanity.com/paper/2009.14082/) (2020)
- [Learning non-maximum suppression](https://mlsanity.com/paper/1705.02950/) (2017)
- [Choosing Smartly: Adaptive Multimodal Fusion for Object Detection in Changing Environments](https://mlsanity.com/paper/1707.05733/) (2017)
- [CNN-based Lidar Point Cloud De-Noising in Adverse Weather](https://mlsanity.com/paper/1912.03874/) (2019)
- [Optimal Sensor Data Fusion Architecture for Object Detection in Adverse Weather Conditions](https://mlsanity.com/paper/1807.02323/) (2018)

## Built on by (most cited first, 5 of 5)

- [CAFuser: Condition-Aware Multimodal Fusion for Robust Semantic Perception of Driving Scenes](https://mlsanity.com/paper/2410.10791/) (2024)
- [HRFuser: A Multi-resolution Sensor Fusion Architecture for 2D Object Detection](https://mlsanity.com/paper/2206.15157/) (2022)
- [Survey on LiDAR Perception in Adverse Weather Conditions](https://mlsanity.com/paper/2304.06312/) (2023)
- [DGFusion: Depth-Guided Sensor Fusion for Robust Semantic Perception](https://mlsanity.com/paper/2509.09828/) (2025)
- [Towards Robust On-Ramp Merging via Augmented Multimodal Reinforcement Learning](https://mlsanity.com/paper/2208.07307/) (2022)

## Abstract (arXiv)

Despite the recent advances of deep neural networks, object detection for adverse weather remains challenging due to the poor perception of some sensors in adverse weather. Instead of relying on one single sensor, multimodal fusion has been one promising approach to provide redundant detection information based on multiple sensors. However, most existing multimodal fusion approaches are ineffective in adjusting the focus of different sensors under varying detection environments in dynamic adverse weather conditions. Moreover, it is critical to simultaneously observe local and global information under complex weather conditions, which has been neglected in most early or late-stage multimodal fusion works. In view of these, this paper proposes a Global-Local Attention (GLA) framework to adaptively fuse the multi-modality sensing streams, i.e., camera, gated camera, and lidar data, at two fusion stages. Specifically, GLA integrates an early-stage fusion via a local attention network and a late-stage fusion via a global attention network to deal with both local and global information, which automatically allocates higher weights to the modality with better detection features at the late-stage fusion to cope with the specific weather condition adaptively. Experimental results demonstrate the superior performance of the proposed GLA compared with state-of-the-art fusion approaches under various adverse weather conditions, such as light fog, dense fog, and snow.