# A Multi-modal Detection System for Infrastructure-based Freight Signal Priority

arXiv: https://arxiv.org/abs/2602.17252 · HTML: https://mlsanity.com/paper/2602.17252/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 3 of its 11 references that are in the map.
- First posted on arXiv 19 Feb 2026.

## Builds on (most cited first, 3 of 3)

- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [PointPillars: Fast Encoders for Object Detection from Point Clouds](https://mlsanity.com/paper/1812.05784/) (2018)
- [Integrating Multi-Modal Sensors: A Review of Fusion Techniques for Intelligent Vehicles](https://mlsanity.com/paper/2506.21885/) (2025)

## Abstract (arXiv)

Freight vehicles approaching signalized intersections require reliable detection and motion estimation to support infrastructure-based Freight Signal Priority (FSP). Accurate and timely perception of vehicle type, position, and speed is essential for enabling effective priority control strategies. This paper presents the design, deployment, and evaluation of an infrastructure-based multi-modal freight vehicle detection system integrating LiDAR and camera sensors. A hybrid sensing architecture is adopted, consisting of an intersection-mounted subsystem and a midblock subsystem, connected via wireless communication for synchronized data transmission. The perception pipeline incorporates both clustering-based and deep learning-based detection methods with Kalman filter tracking to achieve stable real-time performance. LiDAR measurements are registered into geodetic reference frames to support lane-level localization and consistent vehicle tracking. Field evaluations demonstrate that the system can reliably monitor freight vehicle movements at high spatio-temporal resolution. The design and deployment provide practical insights for developing infrastructure-based sensing systems to support FSP applications.