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. Calibration-Informative Region Selection for Online LiDAR--Camera Calibration in Agricultural Environments

    May 22, 2026Rajitha de Silva, Grzegorz CielniakCamera-LiDAR FusionCamera Calibration

    Lincoln Institute for Agri-Food Technology, University of Lincoln, UK.

  2. Joint Target-Less Intrinsic and Extrinsic Camera-LiDAR Calibration using Deep Point Correspondences

    May 22, 2026Simon Bultmann, Daniele Cattaneo, Abhinav ValadaCamera-LiDAR FusionCamera Calibration

    Department of Computer Science, University of Freiburg, Germany

  3. LiteViLNet: Lightweight Vision-LiDAR Fusion Network for Efficient Road Segmentation

    May 20, 2026Daojie Peng, Bingtao Wang, Fulong Ma +2Edge InferenceCamera-LiDAR Fusion

    The Hong Kong University of Science and Technology (Guangzhou) · The Shandong University

  4. NeuroLiDAR: Adaptive Frame Rate Depth Sensing via Neuromorphic Event-LiDAR Fusion

    May 16, 2026Darshana Rathnayake, Dulanga Weerakoon, Meera Radhakrishnan +1Depth EstimationCamera-LiDAR Fusion

    Singapore Management University, Singapore · Singapore-MIT Alliance for Research and Technology Centre, Singapore · University of Technology Sydney, Australia

  5. WeatherOcc3D: VLM-Assisted Adverse Weather Aware 3D Semantic Occupancy Prediction

    May 15, 2026A. Enes Doruk, Abdelaziz Hussein, Hasan F. AtesMultimodal RobustnessCamera-LiDAR Fusion

    Department of Artificial Intelligence and Data Engineering Ozyegin University Istanbul, Türkiye

  6. SB-BEVFusion: Enhancing the Robustness against Sensor Malfunction and Corruptions

    May 12, 2026Markus Essl, Marta Moscati, Mubashir Noman +4Multimodal RobustnessCamera-LiDAR Fusion

    Johannes Kepler University Linz, Austria · MBZUAI, UAE · Macquarie University, Sydney, Australia +1

  7. MTA-RL: Robust Urban Driving via Multi-modal Transformer-based 3D Affordances and Reinforcement Learning

    May 11, 2026Guangli Chen, Dianzhao Li, Wenjian Zhong +2Camera-LiDAR FusionRL for Autonomous Driving

    Dongguan Key Laboratory of Intelligent Equipment and Smart Industry, School of Advanced Engineering, Great Bay University, Dongguan, China · Chair of Applied Statistics, Technische Universität Dresden, Dresden, Germany · Center for Scalable Data Analytics and Artificial Intelligence (ScaDS.AI) Dresden/Leipzig, Dresden, Germany +1

  8. MUSDA: Multi-source Multi-modality Unsupervised Domain Adaptive 3D Object Detection for Autonomous Driving

    May 11, 2026Xiaohu Lu, Hamed Khatounabadi, Hayder RadhaMulti-Source Domain AdaptationUnsupervised Domain Adaptation

    Electrical and Computer Engineering Michigan State University East Lansing, USA

  9. MAG-VLAQ: Multi-modal Aerial-Ground Query Aggregation for Cross-View Place Recognition

    May 10, 2026Zhengyi Xu, Yuhang Ming, Zhihao Zhan +3Cross-View Geo-LocalizationVisual Place Recognition

    Hangzhou Dianzi University · TopXGun Robotics · University of Zaragoza

  10. Height-Guided Projection Reparameterization for Camera-LiDAR Occupancy

    May 6, 2026Yuan Wu, Zhiqiang Yan, Jiawei Lian +2Camera-LiDAR FusionBird's-Eye-View Representation

    1Nanjing University of Science and Technology · 2National University of Singapore

  11. EfficientPENet: Real-Time Depth Completion from Sparse LiDAR via Lightweight Multi-Modal Fusion

    Apr 20, 2026Johny J. Lopez, Md Meftahul Ferdaus, Mahdi Abdelguerfi +4Efficient Neural Network InferenceDepth Estimation

    Canizaro Livingston Gulf States Center for Environmental Informatics, the University of New Orleans, New Orleans, USA · US Army Corps of Engineers, Engineer Research and Development Center, Vicksburg, Mississippi, USA

  12. Integrating Object Detection, LiDAR-Enhanced Depth Estimation, and Segmentation Models for Railway Environments

    Apr 16, 2026Enrico Francesco Giannico, Federico Nesti, Gianluca D'Amico +5Monocular Depth EstimationCamera-LiDAR Fusion

    Department of Excellence in Robotics & AI, Scuola Superiore Sant’Anna, Pisa, Italy · Progress Rail Signaling S.p.A., Serravalle Pistoiese (PT), Italy

  13. UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception

    Apr 15, 2026Ziming WangRobotic Data CollectionRobotic Manipulation

    HKU · USTC

  14. RACF: A Resilient Autonomous Car Framework with Object Distance Correction

    Apr 14, 2026Chieh Tsai, Hossein Rastgoftar, Salim HaririAutonomous DrivingAdversarial Robustness

    Department of Electrical and Computer Engineering, University of Arizona, Tucson, AZ, USA · Department of Aerospace and Mechanical Engineering, University of Arizona, Tucson, AZ, USA

  15. Incremental Semantics-Aided Meshing from LiDAR-Inertial Odometry and RGB Direct Label Transfer

    Apr 10, 2026Muhammad Affan, Ville Lehtola, George Vosselman3D Reconstruction3D Mesh Reconstruction

    Faculty of Geo-Information Science and Earth Observation (ITC), University of Twente, 7522 NB Enschede, Netherlands

  16. A Dual-Stream Transformer Architecture for Illumination-Invariant TIR-LiDAR Person Tracking

    Apr 1, 2026Yuki Minase, Kanji TanakaVisual Object TrackingRobotic Perception

    Yuki Minase and Kanji Tanaka are with the Graduate School of Engineering, University of Fukui, Japan.

  17. Native-Domain Cross-Attention for Camera-LiDAR Extrinsic Calibration Under Large Initial Perturbations

    Mar 31, 2026Ni Ou, Zhuo Chen, Xinru Zhang +1Lidar-Camera Extrinsic CalibrationCamera Calibration

    Ni Ou, Junzheng Wang are with the School of Automation, Beijing Institute of Technology, Beijing, 100081, China. · Zhuo Chen is with the Robot Perception Lab, Centre for Robotics Research, Department of Engineering, King’s College London, London WC2R 2LS, United Kingdom. · Xinru Zhang is with the School of Integrated Circuits and Electronics, Beijing Institute of Technology, Beijing, 100081, China.

  18. Bootstrap Perception Under Hardware Depth Failure for Indoor Robot Navigation

    Mar 30, 2026Nishant Pushparaju, Vivek Mattam, Aliasghar ArabIndoor Robot NavigationRobot Navigation

  19. S3KF: Spherical State-Space Kalman Filtering for Panoramic 3D Multi-Object Tracking

    Mar 29, 2026Zhongyuan Liu, Shaonan Yu, Jianping Li +53D MOTKalman Filtering

    CertaintyX · the School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore · ST Engineering, Singapore +1

  20. CCF: Complementary Collaborative Fusion for Domain Generalized Multi-Modal 3D Object Detection

    Mar 24, 2026Yuchen Wu, Kun Wang, Yining Pan +13D Object DetectionMultimodal Object Detection

    Singapore University of Technology and Design

  21. Gau-Occ: Geometry-Completed Gaussians for Multi-Modal 3D Occupancy Prediction

    Mar 24, 2026Chengxin Lv, Yihui Li, Hongyu Yang +13D Occupancy PredictionCamera-LiDAR Fusion

    State Key Laboratory of Virtual Reality Technology and Systems, Beihang University, Beijing, China · School of Computer Science and Engineering, Beihang University, Beijing, China · School of Artificial Intelligence, Beihang University, Beijing, China

  22. WildDepth: A Multimodal Dataset for 3D Wildlife Perception and Depth Estimation

    Mar 17, 2026Muhammad Aamir, Naoya Muramatsu, Sangyun Shin +6Depth Estimation3D Reconstruction

    University of Oxford · University of Cape Town · University College London

  23. PA-LVIO: Real-Time LiDAR-Visual-Inertial Odometry and Mapping with Pose-Only Bundle Adjustment

    Mar 17, 2026Hailiang Tang, Tisheng Zhang, Liqiang Wang +3Adaptive Lidar-Inertial OdometrySimultaneous Localization and Mapping

    the GNSS Research Center, Wuhan University, Wuhan 430079, China · the Hubei Technology Innovation Center for Spatiotemporal Information and Positioning Navigation, Wuhan 430079, China · the Hubei Luojia Laboratory, Wuhan 430079, China

  24. AURORA-KITTI: Any-Weather Depth Completion and Denoising

    Mar 16, 2026Yiting Wang, Tim Brödermann, Hamed Haghighi +4Depth CompletionMultimodal Robustness

    Warwick Manufacturing Group, University of Warwick, Coventry, CV4 7AL, United Kingdom · School of Engineering and Materials Science, Queen Mary University of London, London, E1 4NS, United Kingdom · Computer Vision Laboratory, ETH Zürich, Zurich, 8057, Switzerland +1

  25. Walking Further: Semantic-aware Multimodal Gait Recognition Under Long-Range Conditions

    Mar 15, 2026Zhiyang Lu, Wen Jiang, Tianren Wu +4Gait RecognitionCamera-LiDAR Fusion

    Fujian Key Laboratory of Sensing and Computing for Smart Cities, Xiamen University · OPPO Research Institute

  26. LR-SGS: Robust LiDAR-Reflectance-Guided Salient Gaussian Splatting for Self-Driving Scene Reconstruction

    Mar 13, 2026ZY Chen, F Zhu, H Zhu +43D Gaussian SplattingAutonomous Driving

  27. Adaptive Entropy-Driven Sensor Selection in a Camera-LiDAR Particle Filter for Single-Vessel Tracking

    Mar 9, 2026Andrei Starodubov, Yaqub Aris Prabowo, Andreas Hadjipieris +2Particle FilteringMaritime Surveillance

    Cyprus Marine and Maritime Institute, Larnaca, Cyprus · Technical University of Denmark, Lyngby, Denmark

  28. Fusion-Poly: A Polyhedral Framework Based on Spatial-Temporal Fusion for 3D Multi-Object Tracking

    Mar 9, 2026Xian Wu, Yitao Wu, Xiaoyu Li +33D MOTCamera-LiDAR Fusion

    State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150006, China.

  29. Multi-Modal Decouple and Recouple Network for Robust 3D Object Detection

    Mar 8, 2026Rui Ding, Zhaonian Kuang, Yuzhe Ji +33D Object DetectionMultimodal Object Detection

    State Key Laboratory of Human-Machine Hybrid Augmented Intelligence, Institute of Artificial Intelligence and Robotics, Xi’an Jiaotong University, Xi’an, P.R.China · Intelligent Transportation Thrust of the Systems Hub, The Hong Kong University of Science and Technology (Guangzhou), P.R.China · Multimodal Experiences Research Lab, Dolby Laboratories, Los Angeles, CA, USA

  30. Spatial Calibration of Diffuse LiDARs

    Mar 6, 2026Nikhil Behari, Ramesh RaskarCamera-LiDAR FusionCamera Calibration

    MIT