# Understanding Cross-Sensor Feature Variations for Generalizable 3D Perception

arXiv: https://arxiv.org/abs/2606.11573 · HTML: https://mlsanity.com/paper/2606.11573/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 2 of its 44 references that are in the map.
- First posted on arXiv 10 Jun 2026.

## Builds on (most cited first, 2 of 2)

- [A Survey of Deep Learning Based Radar and Vision Fusion for 3D Object Detection in Autonomous Driving](https://mlsanity.com/paper/2406.00714/) (2024)
- [Towards Cross-Platform Generalization: Domain Adaptive 3D Detection with Augmentation and Pseudo-Labeling](https://mlsanity.com/paper/2601.08174/) (2026)

## Abstract (arXiv)

Radar-camera BEV perception often suffers from degraded performance when evaluated across datasets, as changes in driving scenes, sensor configurations, and environmental conditions can alter both the input observations and the internal fused representations. This work studies this issue from the perspective of source-domain variation modeling, aiming to improve the robustness of BEV-based 3D detectors without relying on target-domain samples. We introduce a framework that characterizes visual scene variations in the frequency domain and uses them to synthesize diverse source-domain views. By comparing the resulting fused BEV representations, the framework further captures how image-level variations influence multi-modal BEV features. These variation patterns are then used to regularize the detector, encouraging the learned fusion space to remain stable under latent scene changes. The proposed method is applied only during training and leaves the inference pipeline unchanged. Experiments on cross-dataset radar-camera 3D detection between View-of-Delft and TJ4DRadSet demonstrate consistent improvements over multiple BEV fusion backbones, and the gains remain effective when a small amount of target-domain data is available.