{"id":"https://openalex.org/W4380077589","doi":"https://doi.org/10.1142/s1793351x23500022","title":"Hierarchical Attention-Based Sensor Fusion Strategy for Depth Estimation in Diverse Weather","display_name":"Hierarchical Attention-Based Sensor Fusion Strategy for Depth Estimation in Diverse Weather","publication_year":2023,"publication_date":"2023-06-10","ids":{"openalex":"https://openalex.org/W4380077589","doi":"https://doi.org/10.1142/s1793351x23500022"},"language":"en","primary_location":{"id":"doi:10.1142/s1793351x23500022","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s1793351x23500022","pdf_url":null,"source":{"id":"https://openalex.org/S4210201727","display_name":"International Journal of Semantic Computing","issn_l":"1793-351X","issn":["1793-351X","1793-7108"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Semantic Computing","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/A5081528518","display_name":"Mengchen Xiong","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Mengchen Xiong","raw_affiliation_strings":["Technical University of Munich, School of Computation, Information and Technology, Department of Computer Engineering, Chair of Media Technology, Munich Institute of Robotics and Machine Intelligence (MIRMI), 80333, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich, School of Computation, Information and Technology, Department of Computer Engineering, Chair of Media Technology, Munich Institute of Robotics and Machine Intelligence (MIRMI), 80333, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086091747","display_name":"Xu Xiao","orcid":"https://orcid.org/0000-0002-4500-4107"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Xiao Xu","raw_affiliation_strings":["Technical University of Munich, School of Computation, Information and Technology, Department of Computer Engineering, Chair of Media Technology, Munich Institute of Robotics and Machine Intelligence (MIRMI), 80333, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich, School of Computation, Information and Technology, Department of Computer Engineering, Chair of Media Technology, Munich Institute of Robotics and Machine Intelligence (MIRMI), 80333, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101505926","display_name":"Dong Yang","orcid":"https://orcid.org/0000-0001-5798-2058"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dong Yang","raw_affiliation_strings":["Technical University of Munich, School of Computation, Information and Technology, Department of Computer Engineering, Chair of Media Technology, Munich Institute of Robotics and Machine Intelligence (MIRMI), 80333, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich, School of Computation, Information and Technology, Department of Computer Engineering, Chair of Media Technology, Munich Institute of Robotics and Machine Intelligence (MIRMI), 80333, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051134702","display_name":"Fabi\u00e1n Seguel","orcid":"https://orcid.org/0000-0001-6567-8988"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Fabian Seguel","raw_affiliation_strings":["Technical University of Munich, School of Computation, Information and Technology, Department of Computer Engineering, Chair of Media Technology, Munich Institute of Robotics and Machine Intelligence (MIRMI), 80333, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich, School of Computation, Information and Technology, Department of Computer Engineering, Chair of Media Technology, Munich Institute of Robotics and Machine Intelligence (MIRMI), 80333, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077346002","display_name":"Eckehard Steinbach","orcid":"https://orcid.org/0000-0001-8853-2703"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Eckehard Steinbach","raw_affiliation_strings":["Technical University of Munich, School of Computation, Information and Technology, Department of Computer Engineering, Chair of Media Technology, Munich Institute of Robotics and Machine Intelligence (MIRMI), 80333, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich, School of Computation, Information and Technology, Department of Computer Engineering, Chair of Media Technology, Munich Institute of Robotics and Machine Intelligence (MIRMI), 80333, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":0.2127,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.47240131,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"17","issue":"03","first_page":"455","last_page":"475"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9976000189781189,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9976000189781189,"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":0.9966999888420105,"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/T11019","display_name":"Image Enhancement Techniques","score":0.9952999949455261,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8104705810546875},{"id":"https://openalex.org/keywords/fuse","display_name":"Fuse (electrical)","score":0.6814873218536377},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.6129058003425598},{"id":"https://openalex.org/keywords/baseline","display_name":"Baseline (sea)","score":0.5997639894485474},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.5809049606323242},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5767561793327332},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5750269293785095},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5074612498283386},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3554890751838684},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3519899249076843},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.28842347860336304},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.08114179968833923},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07646489143371582}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8104705810546875},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.6814873218536377},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.6129058003425598},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.5997639894485474},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.5809049606323242},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5767561793327332},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5750269293785095},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5074612498283386},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3554890751838684},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3519899249076843},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.28842347860336304},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.08114179968833923},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07646489143371582},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1142/s1793351x23500022","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s1793351x23500022","pdf_url":null,"source":{"id":"https://openalex.org/S4210201727","display_name":"International Journal of Semantic Computing","issn_l":"1793-351X","issn":["1793-351X","1793-7108"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Semantic Computing","raw_type":"journal-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1707357","is_oa":false,"landing_page_url":"https://mediatum.ub.tum.de/1707357","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5600000023841858,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[{"id":"https://openalex.org/G800751731","display_name":null,"funder_award_id":"202006290010","funder_id":"https://openalex.org/F4320322725","funder_display_name":"China Scholarship Council"}],"funders":[{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W2094658656","https://openalex.org/W2115579991","https://openalex.org/W2117539524","https://openalex.org/W2810263984","https://openalex.org/W2914232966","https://openalex.org/W3094830752","https://openalex.org/W3104343368","https://openalex.org/W3145086533","https://openalex.org/W3216379004","https://openalex.org/W4239477748","https://openalex.org/W4313854933"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W4406302447","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W3000097931","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W4281783339","https://openalex.org/W2354322770"],"abstract_inverted_index":{"In":[0],"this":[1,70],"paper,":[2],"we":[3,178],"propose":[4],"a":[5,23,158,200],"hierarchical":[6,73],"attention-based":[7,74],"sensor":[8,63,84,111,123],"fusion":[9,19,75,141],"strategy":[10,76],"for":[11,26,36],"depth":[12,29],"estimation":[13],"under":[14],"various":[15],"weather":[16,33,38,209],"conditions.":[17,39],"Multiple-sensor":[18],"is":[20,102],"proven":[21],"as":[22,112,114],"promising":[24],"solution":[25],"predicting":[27],"accurate":[28],"maps":[30],"in":[31,58,121,127,167,188,207],"diverse":[32],"conditions,":[34,210],"especially":[35],"extreme":[37,208],"However,":[40],"most":[41],"of":[42,96,109,118,163,182,204],"the":[43,48,56,62,94,106,115,122,132,136,139,150,171,180,194],"current":[44],"studies":[45],"simply":[46],"fuse":[47],"information":[49],"from":[50,86],"different":[51,89,128],"sensors":[52,206],"without":[53],"jointly":[54],"considering":[55],"difference":[57],"their":[59,125],"performance":[60,126,162,181],"at":[61],"level":[64],"and":[65,91,144,152,160,186],"feature":[66,120],"level.":[67],"To":[68],"fill":[69],"gap,":[71],"our":[72,100,164],"uses":[77],"two":[78,98,145],"attention":[79],"mask-generation":[80],"modules":[81],"that":[82],"weigh":[83],"data":[85],"branches":[87],"(i.e.":[88],"sensors)":[90],"features.":[92],"With":[93],"cooperation":[95],"these":[97],"masks,":[99],"system":[101],"able":[103],"to":[104],"determine":[105],"adaptive":[107],"contribution":[108,117],"each":[110,119],"well":[113,175],"individual":[116],"regarding":[124],"weather.":[129],"We":[130],"compare":[131],"proposed":[133],"methods":[134,165],"with":[135,149],"baseline,":[137],"i.e.":[138],"late":[140],"Sparse-to-Dense":[142],"model,":[143],"extended":[146],"models":[147],"individually":[148],"branch-wise-only":[151],"feature-wise-only":[153],"masks.":[154],"The":[155],"results":[156,198],"show":[157,199],"robust":[159],"superior":[161],"even":[166],"clear":[168],"environments":[169,190],"where":[170],"baseline":[172],"already":[173],"performs":[174],"enough.":[176],"Moreover,":[177],"investigate":[179],"RGB":[183],"camera,":[184],"radar,":[185],"LiDAR":[187],"foggy":[189],"comprehensively":[191],"by":[192],"visualizing":[193],"generated":[195],"mask.":[196],"Our":[197],"significantly":[201],"increased":[202],"importance":[203],"radar":[205],"e.g.":[211],"dense":[212],"fog.":[213]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}