{"id":"https://openalex.org/W4391877825","doi":"https://doi.org/10.1109/tcsvt.2024.3366664","title":"Toward Robust LiDAR-Camera Fusion in BEV Space via Mutual Deformable Attention and Temporal Aggregation","display_name":"Toward Robust LiDAR-Camera Fusion in BEV Space via Mutual Deformable Attention and Temporal Aggregation","publication_year":2024,"publication_date":"2024-02-16","ids":{"openalex":"https://openalex.org/W4391877825","doi":"https://doi.org/10.1109/tcsvt.2024.3366664"},"language":"en","primary_location":{"id":"doi:10.1109/tcsvt.2024.3366664","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcsvt.2024.3366664","pdf_url":null,"source":{"id":"https://openalex.org/S115173108","display_name":"IEEE Transactions on Circuits and Systems for Video Technology","issn_l":"1051-8215","issn":["1051-8215","1558-2205"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Circuits and Systems for Video Technology","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5004748988","display_name":"Jian Wang","orcid":"https://orcid.org/0000-0002-4091-2165"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Wang","raw_affiliation_strings":["Shaanxi Key Laboratory of Deep Space Exploration Intelligent Information Technology, School of Information and Communications Engineering, Xi’an Jiaotong University, Xi’an, China"],"raw_orcid":"https://orcid.org/0000-0002-4091-2165","affiliations":[{"raw_affiliation_string":"Shaanxi Key Laboratory of Deep Space Exploration Intelligent Information Technology, School of Information and Communications Engineering, Xi’an Jiaotong University, Xi’an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100373576","display_name":"Fan Li","orcid":"https://orcid.org/0000-0002-7566-1634"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fan Li","raw_affiliation_strings":["Shaanxi Key Laboratory of Deep Space Exploration Intelligent Information Technology, School of Information and Communications Engineering, Xi’an Jiaotong University, Xi’an, China"],"raw_orcid":"https://orcid.org/0000-0002-7566-1634","affiliations":[{"raw_affiliation_string":"Shaanxi Key Laboratory of Deep Space Exploration Intelligent Information Technology, School of Information and Communications Engineering, Xi’an Jiaotong University, Xi’an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107600801","display_name":"Yi An","orcid":null},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi An","raw_affiliation_strings":["Shaanxi Key Laboratory of Deep Space Exploration Intelligent Information Technology, School of Information and Communications Engineering, Xi’an Jiaotong University, Xi’an, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shaanxi Key Laboratory of Deep Space Exploration Intelligent Information Technology, School of Information and Communications Engineering, Xi’an Jiaotong University, Xi’an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044561987","display_name":"Xuchong Zhang","orcid":"https://orcid.org/0000-0003-2772-2700"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuchong Zhang","raw_affiliation_strings":["College of Artificial Intelligence, Xi’an Jiaotong University, Xi’an, China"],"raw_orcid":"https://orcid.org/0000-0003-2772-2700","affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence, Xi’an Jiaotong University, Xi’an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100706029","display_name":"Hongbin Sun","orcid":"https://orcid.org/0000-0003-2153-2906"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongbin Sun","raw_affiliation_strings":["College of Artificial Intelligence, Xi’an Jiaotong University, Xi’an, China"],"raw_orcid":"https://orcid.org/0000-0003-2153-2906","affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence, Xi’an Jiaotong University, Xi’an, China","institution_ids":["https://openalex.org/I87445476"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I87445476"],"apc_list":null,"apc_paid":null,"fwci":18.9701,"has_fulltext":false,"cited_by_count":93,"citation_normalized_percentile":{"value":0.99660778,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"34","issue":"7","first_page":"5753","last_page":"5764"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12389","display_name":"Infrared Target Detection Methodologies","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.8480657339096069},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7930469512939453},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7576553821563721},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7169179916381836},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6762706637382507},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5454751253128052},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.48448583483695984},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.47500717639923096},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.4607546925544739},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.4102732539176941},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.2947993278503418},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.2884821891784668}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8480657339096069},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7930469512939453},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7576553821563721},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7169179916381836},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6762706637382507},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5454751253128052},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.48448583483695984},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.47500717639923096},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.4607546925544739},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.4102732539176941},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2947993278503418},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.2884821891784668},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcsvt.2024.3366664","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcsvt.2024.3366664","pdf_url":null,"source":{"id":"https://openalex.org/S115173108","display_name":"IEEE Transactions on Circuits and Systems for Video Technology","issn_l":"1051-8215","issn":["1051-8215","1558-2205"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Circuits and Systems for Video Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.4099999964237213}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":66,"referenced_works":["https://openalex.org/W2343568200","https://openalex.org/W2555618208","https://openalex.org/W2897529137","https://openalex.org/W2949708697","https://openalex.org/W2951517617","https://openalex.org/W2963400571","https://openalex.org/W2963727135","https://openalex.org/W2964062501","https://openalex.org/W2965376383","https://openalex.org/W2967324759","https://openalex.org/W2968296999","https://openalex.org/W2969987486","https://openalex.org/W3017930107","https://openalex.org/W3035346742","https://openalex.org/W3035461736","https://openalex.org/W3035574168","https://openalex.org/W3092462694","https://openalex.org/W3096609285","https://openalex.org/W3107819843","https://openalex.org/W3109395584","https://openalex.org/W3117804044","https://openalex.org/W3164543136","https://openalex.org/W3167095230","https://openalex.org/W3170030651","https://openalex.org/W3175576298","https://openalex.org/W3188046901","https://openalex.org/W3209639308","https://openalex.org/W4224947594","https://openalex.org/W4225986494","https://openalex.org/W4226305814","https://openalex.org/W4285606661","https://openalex.org/W4290056039","https://openalex.org/W4290715566","https://openalex.org/W4312707458","https://openalex.org/W4312894406","https://openalex.org/W4312934050","https://openalex.org/W4313162344","https://openalex.org/W4316660720","https://openalex.org/W4318347643","https://openalex.org/W4321770545","https://openalex.org/W4353004817","https://openalex.org/W4366966647","https://openalex.org/W4367182782","https://openalex.org/W4382464460","https://openalex.org/W4383066393","https://openalex.org/W4384787373","https://openalex.org/W4385245566","https://openalex.org/W4385804922","https://openalex.org/W4386057730","https://openalex.org/W4386072002","https://openalex.org/W4386075854","https://openalex.org/W4386076400","https://openalex.org/W4390874817","https://openalex.org/W6739778489","https://openalex.org/W6763422710","https://openalex.org/W6767379092","https://openalex.org/W6780439892","https://openalex.org/W6784094891","https://openalex.org/W6802311648","https://openalex.org/W6803556390","https://openalex.org/W6810001583","https://openalex.org/W6811230113","https://openalex.org/W6838956374","https://openalex.org/W6839667766","https://openalex.org/W6840665015","https://openalex.org/W6849390296"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W4281783339","https://openalex.org/W1964041166","https://openalex.org/W4293094720","https://openalex.org/W2739701376"],"abstract_inverted_index":{"LiDAR":[0,89],"and":[1,32,40,65,91,144,153,179],"camera":[2],"are":[3,19],"two":[4,121],"critical":[5],"sensors":[6],"that":[7],"can":[8,189],"provide":[9],"complementary":[10],"information":[11,165],"for":[12,176],"accurate":[13],"3D":[14],"object":[15],"detection.":[16],"Most":[17],"works":[18],"devoted":[20],"to":[21,48,52,69,137,160],"improving":[22],"the":[23,30,36,59,62,78,88,92,95,140,146,150,163,167,172,184,200,208],"detection":[24],"performance":[25],"of":[26,61,80,94,193,210],"fusion":[27,63,82,114],"models":[28],"on":[29,87,107,199],"clean":[31],"well-collected":[33],"datasets.":[34],"However,":[35],"collected":[37],"point":[38],"clouds":[39],"images":[41],"in":[42,100,116,166],"real":[43],"scenarios":[44],"may":[45],"be":[46],"corrupted":[47,151],"various":[49],"degrees":[50],"due":[51],"potential":[53,93],"sensor":[54,104],"malfunctions,":[55],"which":[56,84],"greatly":[57],"affects":[58],"robustness":[60],"model":[64,139],"poses":[66],"a":[67,111,131,154],"threat":[68],"safe":[70],"deployment.":[71],"In":[72],"this":[73],"paper,":[74],"we":[75,109],"first":[76],"analyze":[77],"shortcomings":[79],"most":[81],"detectors,":[83],"rely":[85],"mainly":[86],"branch,":[90],"bird\u2019s":[96],"eye-view":[97],"(BEV)":[98],"paradigm":[99],"dealing":[101],"with":[102,120,171],"partial":[103],"failures.":[105],"Based":[106],"that,":[108],"present":[110],"robust":[112,205],"LiDAR-camera":[113,127],"pipeline":[115],"unified":[117],"BEV":[118,181],"space":[119,182],"novel":[122],"designs":[123],"under":[124,204],"four":[125],"typical":[126],"malfunction":[128],"cases.":[129],"Specifically,":[130],"mutual":[132],"deformable":[133],"attention":[134],"is":[135,158],"proposed":[136,185],"dynamically":[138],"spatial":[141],"feature":[142,174],"relationship":[143],"reduce":[145],"interference":[147],"caused":[148],"by":[149],"modality,":[152],"temporal":[155,168],"aggregation":[156],"module":[157],"devised":[159],"fully":[161],"utilize":[162],"rich":[164],"domain.":[169],"Together":[170],"decoupled":[173],"extraction":[175],"each":[177],"modality":[178],"holistic":[180],"fusion,":[183],"detector,":[186],"termed":[187],"RobBEV,":[188],"work":[190],"stably":[191],"regardless":[192],"single-modality":[194],"data":[195],"corruption.":[196],"Extensive":[197],"experiments":[198],"large-scale":[201],"nuScenes":[202],"dataset":[203],"settings":[206],"demonstrate":[207],"effectiveness":[209],"our":[211],"approach.":[212]},"counts_by_year":[{"year":2026,"cited_by_count":13},{"year":2025,"cited_by_count":22},{"year":2024,"cited_by_count":58}],"updated_date":"2026-07-14T08:27:34.040176","created_date":"2025-10-10T00:00:00"}