mlsanityData to 14 Oct 2026

Integrating Multi-Modal Sensors: A Review of Fusion Techniques for Intelligent Vehicles

arXiv 2506.21885 ↗First posted 27 Jun 2025cs.CV cs.MM cs.ROcited by 3

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Abstract (arXiv)

Multi-sensor fusion plays a critical role in enhancing perception for autonomous driving, overcoming individual sensor limitations, and enabling comprehensive environmental understanding. This paper first formalizes multi-sensor fusion strategies into data-level, feature-level, and decision-level categories and then provides a systematic review of deep learning-based methods corresponding to each strategy. We present key multi-modal datasets and discuss their applicability in addressing real-world challenges, particularly in adverse weather conditions and complex urban environments. Additionally, we explore emerging trends, including the integration of Vision-Language Models (VLMs), Large Language Models (LLMs), and the role of sensor fusion in end-to-end autonomous driving, highlighting its potential to enhance system adaptability and robustness. Our work offers valuable insights into current methods and future directions for multi-sensor fusion in autonomous driving.

Key facts. Cited by 3 papers in the map (data through 14 Oct 2026). Builds on 45 of its 77 references that are in the map. First posted on arXiv 27 Jun 2025.

Builds on

45 of 77 references.

References · 45

  1. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,523
  2. 2019Scalability in Perception for Autonomous Driving: Waymo Open Datasetcited by 2,451
  3. 2022BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representationcited by 850
  4. 2019Argoverse: 3D Tracking and Forecasting with Rich Mapscited by 732
  5. 2016Multi-View 3D Object Detection Network for Autonomous Drivingcited by 724
  6. 2017Frustum PointNets for 3D Object Detection from RGB-D Datacited by 640
  7. 2019PointPainting: Sequential Fusion for 3D Object Detectioncited by 449
  8. 2017Joint 3D Proposal Generation and Object Detection from View Aggregationcited by 326
  9. 2022DAIR-V2X: A Large-Scale Dataset for Vehicle-Infrastructure Cooperative 3D Object Detectioncited by 273
  10. 2020Deep Continuous Fusion for Multi-Sensor 3D Object Detectioncited by 263
  11. 2022DeepFusion: Lidar-Camera Deep Fusion for Multi-Modal 3D Object Detectioncited by 224
  12. 2020Multi-Task Multi-Sensor Fusion for 3D Object Detectioncited by 203
33 more
  1. 2020A2D2: Audi Autonomous Driving Datasetcited by 190
  2. 2021PandaSet: Advanced Sensor Suite Dataset for Autonomous Drivingcited by 190
  3. 20203D-CVF: Generating Joint Camera and LiDAR Features Using Cross-View Spatial Feature Fusion for 3D Object Detectioncited by 176
  4. 2020EPNet: Enhancing Point Features with Image Semantics for 3D Object Detectioncited by 164
  5. 2019MVX-Net: Multimodal VoxelNet for 3D Object Detectioncited by 163
  6. 2020CenterFusion: Center-based Radar and Camera Fusion for 3D Object Detectioncited by 161
  7. 2020CLOCs: Camera-LiDAR Object Candidates Fusion for 3D Object Detectioncited by 147
  8. 2022Sparse Fuse Dense: Towards High Quality 3D Detection with Depth Completioncited by 82
  9. 2019The H3D Dataset for Full-Surround 3D Multi-Object Detection and Tracking in Crowded Urban Scenescited by 80
  10. 2020A Deep Learning-based Radar and Camera Sensor Fusion Architecture for Object Detectioncited by 70
  11. 2022AutoAlign: Pixel-Instance Feature Aggregation for Multi-Modal 3D Object Detectioncited by 70
  12. 2022CRAFT: Camera-Radar 3D Object Detection with Spatio-Contextual Fusion Transformercited by 67
  13. 2024TUMTraf V2X Cooperative Perception Datasetcited by 67
  14. 2024V2X-Real: a Large-Scale Dataset for Vehicle-to-Everything Cooperative Perceptioncited by 66
  15. 2019A*3D Dataset: Towards Autonomous Driving in Challenging Environmentscited by 65
  16. 2019PI-RCNN: An Efficient Multi-sensor 3D Object Detector with Point-based Attentive Cont-conv Fusion Modulecited by 56
  17. 2019Sensor Fusion for Joint 3D Object Detection and Semantic Segmentationcited by 48
  18. 2021VPFNet: Improving 3D Object Detection with Virtual Point based LiDAR and Stereo Data Fusioncited by 48
  19. 2024Co-Occ: Coupling Explicit Feature Fusion with Volume Rendering Regularization for Multi-Modal 3D Semantic Occupancy Predictioncited by 48
  20. 2022Bridging the View Disparity Between Radar and Camera Features for Multi-modal Fusion 3D Object Detectioncited by 46
  21. 2020Depth Estimation from Monocular Images and Sparse Radar Datacited by 44
  22. 2022Graph R-CNN: Towards Accurate 3D Object Detection with Semantic-Decorated Local Graphcited by 42
  23. 2018LIDAR-Camera Fusion for Road Detection Using Fully Convolutional Neural Networkscited by 41
  24. 2024Unleashing HyDRa: Hybrid Fusion, Depth Consistency and Radar for Unified 3D Perceptioncited by 35
  25. 2019RRPN: Radar Region Proposal Network for Object Detection in Autonomous Vehiclescited by 33
  26. 2018RoarNet: A Robust 3D Object Detection based on RegiOn Approximation Refinementcited by 31
  27. 2024CRKD: Enhanced Camera-Radar Object Detection with Cross-modality Knowledge Distillationcited by 28
  28. 2023RCM-Fusion: Radar-Camera Multi-Level Fusion for 3D Object Detectioncited by 23
  29. 2021PixSet : An Opportunity for 3D Computer Vision to Go Beyond Point Clouds With a Full-Waveform LiDAR Datasetcited by 20
  30. 2018A General Pipeline for 3D Detection of Vehiclescited by 15
  31. 2024GAFusion: Adaptive Fusing LiDAR and Camera with Multiple Guidance for 3D Object Detectioncited by 15
  32. 2020YOdar: Uncertainty-based Sensor Fusion for Vehicle Detection with Camera and Radar Sensorscited by 13
  33. 2024Feature Corrective Transfer Learning: End-to-End Solutions to Object Detection in Non-Ideal Visual Conditionscited by 1

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2025: 1; 2026: 2.

3 papers.

  1. 2025HeCoFuse: Cross-Modal Complementary V2X Cooperative Perception with Heterogeneous Sensorscited by 2
  2. 2026A Multi-modal Detection System for Infrastructure-based Freight Signal Prioritycited by 0
  3. 2026ADM-Fusion: Adaptive Deep Multi-Sensor Fusion for Robust Ego-Motion Estimation in Diverse Conditionscited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2026CRUISE: Vision-Language Model-Guided Uncertainty-Aware Cross-Modal Sensor Fusion for Robust Autonomous Driving
  2. 2023FusionAD: Multi-modality Fusion for Prediction and Planning Tasks of Autonomous Driving
  3. 2024M2DA: Multi-Modal Fusion Transformer Incorporating Driver Attention for Autonomous Driving
  4. 2025All You Need for Object Detection: From Pixels, Points, and Prompts to Next-Gen Fusion and Multimodal LLMs/VLMs in Autonomous Vehicles
  5. 2022MMFN: Multi-Modal-Fusion-Net for End-to-End Driving
  6. 2024Leveraging Large Language Models for Enhancing Autonomous Vehicle Perception
  7. 2021Multi-Modal Fusion Transformer for End-to-End Autonomous Driving
  8. 2023Vision Language Models in Autonomous Driving: A Survey and Outlook