SARFusion: Scene-Aware Routing Fusion for Robust Camera-LiDAR 3D Object Detection
Camera-LiDAR fusion has become a prevailing paradigm for 3D object detection in autonomous driving. However, existing fusion detectors often establish strong inter-modality dependencies by decoding object queries from tightly coupled multimodal representations. Under corrupted driving conditions, such dependencies make the detector vulnerable to unreliable modalities, where degraded observations may interfere with reliable modality-specific evidence and lead to suboptimal predictions. Moreover, modality reliability can vary across both global driving scenes and individual object queries, requiring adaptive fusion decisions at a finer granularity. To bridge this gap, we reformulate robust ...
| Authors | Yuting Zhao, Ziyi Zheng, Shuxiao Li |
|---|---|
| Primary category | cs.CV |
| Published | 24 September 2026 |
| Last updated at source | 24 September 2026 |
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