{"id":"https://openalex.org/W4387573396","doi":"https://doi.org/10.3390/s23208400","title":"AFTR: A Robustness Multi-Sensor Fusion Model for 3D Object Detection Based on Adaptive Fusion Transformer","display_name":"AFTR: A Robustness Multi-Sensor Fusion Model for 3D Object Detection Based on Adaptive Fusion Transformer","publication_year":2023,"publication_date":"2023-10-12","ids":{"openalex":"https://openalex.org/W4387573396","doi":"https://doi.org/10.3390/s23208400","pmid":"https://pubmed.ncbi.nlm.nih.gov/37896496"},"language":"en","primary_location":{"id":"doi:10.3390/s23208400","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23208400","pdf_url":"https://www.mdpi.com/1424-8220/23/20/8400/pdf?version=1697089140","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/23/20/8400/pdf?version=1697089140","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Yan Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Zhang","raw_affiliation_strings":["School of Artificial Intelligence, China University of Mining and Technology-Beijing, Beijing 100083, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, China University of Mining and Technology-Beijing, Beijing 100083, China","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037558598","display_name":"Kang Liu","orcid":"https://orcid.org/0000-0002-8413-123X"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kang Liu","raw_affiliation_strings":["School of Artificial Intelligence, China University of Mining and Technology-Beijing, Beijing 100083, China"],"raw_orcid":"https://orcid.org/0000-0002-8413-123X","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, China University of Mining and Technology-Beijing, Beijing 100083, China","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057248354","display_name":"Hong Bao","orcid":"https://orcid.org/0000-0002-4760-1570"},"institutions":[{"id":"https://openalex.org/I114234892","display_name":"Beijing Union University","ror":"https://ror.org/01hg31662","country_code":"CN","type":"education","lineage":["https://openalex.org/I114234892"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hong Bao","raw_affiliation_strings":["College of Robotics, Beijing Union University, Beijing 100027, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Robotics, Beijing Union University, Beijing 100027, China","institution_ids":["https://openalex.org/I114234892"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101216400","display_name":"Qian Xu","orcid":"https://orcid.org/0009-0007-6845-9618"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xu Qian","raw_affiliation_strings":["School of Artificial Intelligence, China University of Mining and Technology-Beijing, Beijing 100083, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, China University of Mining and Technology-Beijing, Beijing 100083, China","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100380111","display_name":"Zihan Wang","orcid":"https://orcid.org/0000-0003-4018-1603"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zihan Wang","raw_affiliation_strings":["School of Artificial Intelligence, China University of Mining and Technology-Beijing, Beijing 100083, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, China University of Mining and Technology-Beijing, Beijing 100083, China","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058150576","display_name":"Shiqing Ye","orcid":null},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiqing Ye","raw_affiliation_strings":["School of Artificial Intelligence, China University of Mining and Technology-Beijing, Beijing 100083, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, China University of Mining and Technology-Beijing, Beijing 100083, China","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109646110","display_name":"Weicen Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weicen Wang","raw_affiliation_strings":["School of Artificial Intelligence, China University of Mining and Technology-Beijing, Beijing 100083, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, China University of Mining and Technology-Beijing, Beijing 100083, China","institution_ids":["https://openalex.org/I25757504"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5057248354"],"corresponding_institution_ids":["https://openalex.org/I114234892"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2673},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2673},"fwci":1.0746,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.76290734,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"23","issue":"20","first_page":"8400","last_page":"8400"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9936000108718872,"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/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.9912999868392944,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/robustness","display_name":"Robustness (evolution)","score":0.6999386548995972},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.6796325445175171},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6691364049911499},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5495473742485046},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5418480634689331},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.4555181562900543},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.35690730810165405}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6999386548995972},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.6796325445175171},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6691364049911499},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5495473742485046},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5418480634689331},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.4555181562900543},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.35690730810165405},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.3390/s23208400","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23208400","pdf_url":"https://www.mdpi.com/1424-8220/23/20/8400/pdf?version=1697089140","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:37896496","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37896496","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:escholarship.org:ark:/13030/qt6914h5zs","is_oa":true,"landing_page_url":"https://escholarship.org/uc/item/6914h5zs","pdf_url":"https://escholarship.org/content/qt6914h5zs/qt6914h5zs.pdf","source":{"id":"https://openalex.org/S4306400115","display_name":"eScholarship (California Digital Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2801248553","host_organization_name":"California Digital Library","host_organization_lineage":["https://openalex.org/I2801248553"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, vol 23, iss 20","raw_type":"article"},{"id":"pmh:oai:pubmedcentral.nih.gov:10611098","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10611098","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10611098/pdf/sensors-23-08400.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:ark:/13030/qt6914h5zs","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":null},{"id":"pmh:oai:doaj.org/article:848d4b30e6dd4d87908d2b7d97aa570c","is_oa":true,"landing_page_url":"https://doaj.org/article/848d4b30e6dd4d87908d2b7d97aa570c","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 23, Iss 20, p 8400 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s23208400","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23208400","pdf_url":"https://www.mdpi.com/1424-8220/23/20/8400/pdf?version=1697089140","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3196640441","display_name":null,"funder_award_id":"61932012","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4387573396.pdf"},"referenced_works_count":48,"referenced_works":["https://openalex.org/W2031489346","https://openalex.org/W2150066425","https://openalex.org/W2194775991","https://openalex.org/W2565639579","https://openalex.org/W2601564443","https://openalex.org/W2624503621","https://openalex.org/W2897529137","https://openalex.org/W2923578171","https://openalex.org/W2925359305","https://openalex.org/W2950642167","https://openalex.org/W2963016543","https://openalex.org/W2963041685","https://openalex.org/W2963351448","https://openalex.org/W2963727135","https://openalex.org/W2964062501","https://openalex.org/W2967324759","https://openalex.org/W2968296999","https://openalex.org/W3010278253","https://openalex.org/W3035461736","https://openalex.org/W3035574168","https://openalex.org/W3092462694","https://openalex.org/W3167095230","https://openalex.org/W3176287975","https://openalex.org/W3207615232","https://openalex.org/W3209639308","https://openalex.org/W3215100485","https://openalex.org/W4214558638","https://openalex.org/W4225986494","https://openalex.org/W4250468668","https://openalex.org/W4281672996","https://openalex.org/W4281773951","https://openalex.org/W4293112749","https://openalex.org/W4312707458","https://openalex.org/W4312725821","https://openalex.org/W4312920813","https://openalex.org/W4379924413","https://openalex.org/W4382450829","https://openalex.org/W4382464460","https://openalex.org/W4382466543","https://openalex.org/W4383066393","https://openalex.org/W4385804883","https://openalex.org/W4386072002","https://openalex.org/W4390874213","https://openalex.org/W6802311648","https://openalex.org/W6838956374","https://openalex.org/W6839131283","https://openalex.org/W6839355098","https://openalex.org/W6853989721"],"related_works":["https://openalex.org/W2132659060","https://openalex.org/W2031992971","https://openalex.org/W3214791684","https://openalex.org/W2353265673","https://openalex.org/W2152662039","https://openalex.org/W2726747157","https://openalex.org/W2004817612","https://openalex.org/W2010131506","https://openalex.org/W2392133813","https://openalex.org/W2145797872"],"abstract_inverted_index":{"Multi-modal":[0],"sensors":[1],"are":[2,20],"the":[3,7,37,56,90,100,107,131,134,167,173,199,204,207,215],"key":[4],"to":[5,31,158,188],"ensuring":[6],"robust":[8,223],"and":[9,18,36,106,117,139,143,181,184,222],"accurate":[10],"operation":[11],"of":[12,39,99,133,136,206],"autonomous":[13],"driving":[14],"systems,":[15],"where":[16],"LiDAR":[17],"cameras":[19],"important":[21],"on-board":[22],"sensors.":[23],"However,":[24],"current":[25,43],"fusion":[26,44,87,92,226],"methods":[27,45],"face":[28],"challenges":[29],"due":[30,157],"inconsistent":[32],"multi-sensor":[33,49,68,86,120,224],"data":[34,50,69,121,225],"representations":[35],"misalignment":[38,135,189],"dynamic":[40,159],"scenes.":[41,160],"Specifically,":[42,113],"either":[46],"explicitly":[47],"correlate":[48],"features":[51,66,122],"by":[52,61],"calibrating":[53],"parameters,":[54],"ignoring":[55],"feature":[57],"blurring":[58],"problems":[59],"caused":[60],"misalignment,":[62],"or":[63],"find":[64],"correlated":[65],"between":[67],"through":[70,126,163,210],"global":[71],"attention,":[72,129,154],"causing":[73],"rapidly":[74],"escalating":[75],"computational":[76,141],"costs.":[77],"On":[78],"this":[79],"basis,":[80],"we":[81,202],"propose":[82],"a":[83,191],"transformer-based":[84],"end-to-end":[85],"framework":[88],"named":[89],"adaptive":[91,101],"transformer":[93],"(AFTR).":[94],"The":[95],"proposed":[96,216],"AFTR":[97,168,208,217],"consists":[98],"spatial":[102,108],"cross-attention":[103],"(ASCA)":[104],"mechanism":[105],"temporal":[109],"self-attention":[110],"(STSA)":[111],"mechanism.":[112],"ASCA":[114],"adaptively":[115],"associates":[116],"interacts":[118,145],"with":[119,146,195],"in":[123,152,172],"3D":[124,175],"space":[125],"learnable":[127,150],"local":[128],"alleviating":[130],"problem":[132],"geometric":[137],"information":[138,148],"reducing":[140],"costs,":[142],"STSA":[144],"cross-temporal":[147],"using":[149],"offsets":[151],"deformable":[153],"mitigating":[155],"displacements":[156],"We":[161],"show":[162],"numerous":[164],"experiments":[165],"that":[166],"obtains":[169],"SOTA":[170],"performance":[171],"nuScenes":[174],"object":[176],"detection":[177],"task":[178],"(74.9%":[179],"NDS":[180,193],"73.2%":[182],"mAP)":[183],"demonstrates":[185],"strong":[186],"robustness":[187],"(only":[190],"0.2%":[192],"drop":[194],"slight":[196],"noise).":[197],"At":[198],"same":[200],"time,":[201],"demonstrate":[203],"effectiveness":[205],"components":[209],"ablation":[211],"studies.":[212],"In":[213],"summary,":[214],"is":[218],"an":[219],"accurate,":[220],"efficient,":[221],"framework.":[227]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}