Camera-LiDAR Fusion

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Overview

Camera–LiDAR fusion studies how to combine cameras’ rich appearance cues with LiDAR’s metric 3D geometry for tasks such as object detection, segmentation, depth completion, occupancy prediction, tracking, and localization. Common approaches project sensor data into a shared image or bird’s-eye-view space, fuse features through attention or gating, or match observations using explicit geometric constraints; sparse LiDAR also serves as a depth prompt for camera models. Methods are commonly evaluated on driving benchmarks such as nuScenes, KITTI, Waymo, and SemanticKITTI, with growing attention to adverse weather, long range, and real-time deployment. A central challenge is making fusion reliable when calibration is imperfect or one sensor is degraded, without sacrificing accuracy, efficiency, or useful modality-specific information.

Latest papers

CardsList

106 papers11 papers in the last four weeks, down 8% on the four weeks before. 0.1% of all new papers.

  1. FastBEVFusion: Simple Multi-Modal Fusion for 3D Object Detection at 50 FPS

    Oct 27, 2026Tom Sanitz, Emre Gülsoylu, Simone Frintrop +13D Object DetectionCamera-LiDAR Fusion

    University of Hamburg, Hamburg, Germany

  2. Revisiting Direct Control: A Field Evaluation of Sensor Fusion Efficacy in Teleoperating Full-Scale Autonomous Vehicles via Bird's Eye View

    Oct 26, 2026Stanisław Kuczma, Sławomir K. Tadeja, Michał R. NowickiRobot TeleoperationBird's-Eye-View Representation

    Pozna´n University of Technology. · Massachusetts Institute of Technology.

  3. RAHF-Net: Range-Aware Heterogeneous Fusion for LiDAR-Assisted RGB Semantic Segmentation

    Oct 18, 2026R. D. Lin, Pengcheng Weng, Ge Wang +2Camera-LiDAR FusionMultimodal Semantic Segmentation

    School of Software Engineering, Xi’an Jiaotong University, China · School of Computer Science and Technology, Xi’an Jiaotong University, China

  4. F-LIVO: A Feature-Level Geometric Measurement Framework for LiDAR-Inertial-Visual Odometry

    Oct 16, 2026Xinye Dai, Yapeng Wang, Shujie Zhou +6Camera-LiDAR FusionAdaptive Lidar-Inertial Odometry

    The authors are with the GNSS Center, Wuhan University, Wuhan 430079, China.

  5. TriSAR-3D and PaintFusion: A Novel Trimodal LiDAR-RGB-Thermal Dataset and Method for 3D Person Detection in Search and Rescue

    Oct 15, 2026Markus Kramer, Jan Wachenfeld, Oskar von Stryk3D Object DetectionMultimodal Object Detection

    The authors are with the SIM Group, Technical University of Darmstadt, Germany.

  6. Context-aware Bayesian Fusion for Multimodal Object Detection

    Oct 13, 2026Arunachalam Venkatachalam, Mhafuzul Islam, Marwan Yusuf +3Multimodal Object DetectionObject Detection

    imec Michigan, USA · imec and Ghent University Ghent, Belgium · imec Leuven, Belgium

  7. Mining Cross-Modal Perception Gaps in Autonomous Driving: When Camera and LiDAR Disagree

    Oct 12, 2026Hongsen Cao, Mona Jaber, Shanxin Yuan +1Camera-LiDAR Fusion3D Object Detection

    School of Electronic Engineering and Computer Science, Queen Mary University of London, London, United Kingdom.

  8. Learning Which Correspondences to Trust: Confidence-Weighted Event-Camera Localization in LiDAR Maps

    Oct 8, 2026Panagiotis Kiousis, Kuangyi Chen, Jun Zhang +1Camera Pose EstimationMap-Based Localization

    Dept. of Electrical & Computer Engineering, Univ. of Patras, Greece. · Institute of Visual Computing, Graz University of Technology, Graz, Austria.

  9. Enhancing Robotic Perception and Adaptability through Sensor Fusion and Origami-Inspired Designs

    Oct 7, 2026Namai Chandra, Jaison Jose, Kavi Arya +1Robotic PerceptionMobile Robotics

    IIT Madras · e-Yantra, IIT Bombay

  10. Robust 2D Traversability Mapping for Construction AMRs via Failure-Mode-Aware Fusion of LiDAR Geometry and Monocular Semantics

    Oct 4, 2026Manoj Karnekar, Om Mandhane, Gautham RamkumarRobotic ConstructionRobot Traversability Estimation

    FloMobility Pvt. Ltd., Bangalore, India

  11. Lightweight and Resource-Efficient Perception for Robotic Guide Dogs

    Oct 2, 2026Jinse Kwon, Yoojin Lim, Choonghan Lee +3Camera-LiDAR FusionAssistive Robotics

    Electronics and Telecommunications Research Institute (ETRI), Korea · School of Computer Science and Engineering, Pusan National University, Korea · Division of Electronics and Information Engineering, Jeonbuk National University, Korea

  12. GlassGuard: Verified Glass Plane Mapping for Robot Navigation

    Oct 1, 2026Hanwen Guo, Zhengzhi Lin, Yusen Xie +1Robot NavigationCamera-LiDAR Fusion

    Carnegie Mellon University, Pittsburgh, PA, USA

  13. Repair Before You Fuse: Frozen-Host Adaptation for Corrupted-but-Present Sensors

    Sep 28, 2026Gia-Huy Thai, Quang-Thinh Ly, Anh-Minh Phan +1Lidar-Based 3D Object DetectionMultimodal Robustness

    University of Science, VNU-HCM, Ho Chi Minh City 700000, Vietnam · Michigan State University, East Lansing, MI 48824, USA · Center for Environmental Intelligence, VinUniversity, Hanoi 100000, Vietnam +1

  14. M3GD: Multi-Modal Multi-View Geometric Diffusion for Camera--LiDAR Novel View Synthesis

    Sep 24, 2026Yang Zhou, Jiuhong Xiao, Shizhao Ye +3Multi-View Image SynthesisImage Generation

    New York University, New York, USA · Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, CA 94720, USA · U.S. Army Combat Capabilities Development Command, Army Research Laboratory, Adelphi, MD 20783, USA

  15. SARFusion: Scene-Aware Routing Fusion for Robust Camera-LiDAR 3D Object Detection

    Sep 24, 2026Yuting Zhao, Ziyi Zheng, Shuxiao LiCamera-LiDAR Fusion3D Object Detection

    Institute of Automation, Chinese Academy of Sciences, Beijing, China · School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China · Wuhan College, Wuhan, China

  16. From LiDAR Maps to Visual Localization: Unified Visual Association for Robust Point-Line-Plane Pose Estimation

    Sep 23, 2026Wentao Zhao, Zikun Chen, Yihe Niu +2Camera Pose EstimationMap-Based Localization

    School of Automation and Intelligent Sensing, Institute of Medical Robotics, Shanghai Jiao Tong University · School of Mathematical Sciences, Shanghai Jiao Tong University · School of Electronic and Information Engineering, Beijing Jiaotong University

  17. MatchFusion: Explicit-Implicit Instance Matching for Spatio-Temporal Multimodal Autonomous Driving

    Sep 22, 2026Xiaoyu Li, Jiajia Fu, Long Shi +7End-to-End Autonomous DrivingCamera-LiDAR Fusion

    Harbin Institute of Technology, Harbin 150001, China · Zhejiang University, Hangzhou 310027, China

  18. Towards robust multimodal 3D object detection via visual foundation models

    Sep 20, 2026Ziying Song, Lin Liu, Hongyu Pan +4Multimodal RobustnessVision Foundation Models

    School of Computer Science and Technology, Beijing Jiaotong University, Beijing 100044, China · Horizon Robotics, Beijing 100000, China · University of Macau, Macao 999078, China +1

  19. ZIL: Zero-shot Image-to-LiDAR Registration

    Sep 19, 2026Zijun Li, Xiaotian Sun, Xuelun Shen +6Cross-Modal Image RegistrationCamera-LiDAR Fusion

    Xiamen University · Meta

  20. Dynamic-LIVO: A Dynamic-Aware LiDAR-Inertial-Visual Odometry System Using Spatio-Temporal Normals

    Sep 16, 2026Zhixin Zhang, Samuel Ahiwe, Matthew Hale +2Inertial OdometryCamera-LiDAR Fusion

    Department of Electrical and Electronic Engineering, University of Manchester, Manchester M13 9PL, U.K. · Department of Mechanical, Aerospace and Civil Engineering, University of Manchester, Manchester M13 9PL, U.K. · School of Informatics, University of Edinburgh, Edinburgh EH8 9AB, U.K.

  21. PRI-Net: A Lightweight Multimodal Framework for 3D UAV Localization

    Sep 13, 2026Zhixuan Chen, Jialiang Lu, Zhong Ye +2Robot LocalizationCamera-LiDAR Fusion

    College of Information Science and Electronic Engineering, Zhejiang University, Hangzhou, China

  22. DRS-VPT: Directly Relocalizing in a Scan with Vision Point Transformers

    Sep 11, 2026Lanke Frank Tarimo Fu, Maurice Fallon3D ViTsCamera Pose Estimation

    University of Oxford, Oxford OX2 6NN, United Kingdom

  23. CLFTv2: Efficient Camera-LiDAR Fusion for Semantic Segmentation via Hierarchical Feature Pyramids

    Sep 9, 2026Toomas Tahves, Mauro Bellone, Raivo SellCamera-LiDAR FusionAutonomous Driving Perception

    Department of Mechanical and Industrial Engineering, Tallinn University of Technology, Tallinn, Estonia · FinEst Centre for Smart Cities, Tallinn University of Technology, Tallinn, Estonia · Universitas Mercatorum, Rome, Italy

  24. A Multi-Modal Perception Pipeline for Object Detection and Tracking in Autonomous Racing

    Sep 8, 2026Davide Malvezzi, Michele Pestarino, Vittoria Cavicchioli +9Camera-Radar FusionCamera-LiDAR Fusion

    University of Modena and Reggio Emilia, Modena, Italy · HiPeRT Srl, Modena, Italy

  25. P2^2Calib: Utilizing Pattern Priors for LiDAR-Camera Extrinsic Calibration

    Sep 7, 2026Xiangcheng HuLidar-Camera Extrinsic CalibrationCamera-LiDAR Fusion

    Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Clear Water Bay, Kowloon, Hong Kong SAR, China

  26. Adversarial Calibration Attack on Autonomous Vehicles

    Aug 28, 2026Liangkai Liu, Qingzhao Zhang, Kang G. ShinPhysical Adversarial AttacksCamera Calibration

    Texas Tech University · University of Arizona · University of Michigan

  27. Variance-Guided Spatial Attention Fusion for Robust End-to-End Driving under Asymmetric Sensor Degradation

    Aug 25, 2026Weizhi Tao, Zengwang Jin, Xiao Wang +1End-to-End Autonomous DrivingMultimodal Robustness

    Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, 999077, Hong Kong, China · School of Robotics, Anhui University, Hefei 230039, China; with the Anhui Provincial Engineering Research Center for Unmanned System and Intelligent Technology, Anhui University, Hefei 230039, China; and also with the Shenzhen Research Institute of Northwestern Polytechnical University, Shenzhen 518057, China · School of Robotics and Institute of Embodied Intelligence, Anhui University, Hefei 230039, China

  28. CARE: Camera-Residual Reserves for First Sightings in Adaptive LiDAR Sensing

    Aug 25, 2026Jiachen Gong, Yun Li, Ehsan Javanmardi +2Adaptive SensingAutonomous Driving

    The University of Tokyo, Tokyo, Japan · National Institute of Informatics, Tokyo, Japan

  29. Multi-Modal Traffic Sign Detection with Semantic Attributes for Autonomous Driving

    Aug 21, 2026Meda Lazar, Sourab Sridhar, Shashwata Gupta +3Traffic Sign DetectionAutonomous Driving Perception

    Arriver System Software S.r.l., Romania · Qualcomm Auto Ltd Sweden Filial · Qualcomm Auto Ltd., UK +1

  30. Autonomous Agricultural Tractor: Integrated Weed Detection and LiDAR Navigation for Precision Paddy Farming

    Aug 19, 2026Benjamin Merryman-Smith, Tony Nguyen, Bilal Dogutas +3Agricultural RoboticsPrecision Agriculture

    Department of Computing and Software Engineering Florida Gulf Coast University, Fort Myers, FL 33965, USA