Papers › Fusing Event-based and RGB camera for Robust Object Detection in Adverse Conditions

Fusing Event-based and RGB camera for Robust Object Detection in Adverse Conditions

30 Mar 2022ICRA 2022 3archive 2025-07-28

Abhishek Tomy, Anshul Paigwar, Khushdeep Singh Mann, Alessandro Renzaglia, Christian Laugier

The ability to detect objects, under image corruptions and different weather conditions is vital for deep learning models especially when applied to real-world applications such as autonomous driving. Traditional RGB-based detection fails under these conditions and it is thus important to design a sensor suite that is redundant to failures of the primary frame-based detection. Event-based cameras can complement frame-based cameras in low-light conditions and high dynamic range scenarios that an autonomous vehicle can encounter during navigation. Accordingly, we propose a redundant sensor fusion model of event-based and frame-based cameras that is robust to common image corruptions. The method utilizes a voxel grid representation for events as input and proposes a two-parallel feature extractor network for frames and events. Our sensor fusion approach is more robust to corruptions by over 30% compared to only frame-based detections and outperforms the only event-based detection. The model is trained and evaluated on the publicly released DSEC dataset.

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abhishek1411/event-rgb-fusion mentioned in paperpytorch report

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Tasks

3D Object Detection Adversarial Attack Autonomous Driving Event Detection Event-based vision Infrared And Visible Image Fusion Object Detection Robust Object Detection Sensor Fusion Stereo-LiDAR Fusion object-detection

Results from the paper archive 2025-07-28

Task	Dataset	Model	Metric	Value	Rank at snapshot	Leaderboard	Report
Object Detection	DSEC	FPN-Fusion	mAP	24.4	#10 of 12	Archive leaderboard	report
Object Detection	EventPed	FPN-Fusion	AP	61.1	#2 of 6	Archive leaderboard	report
Object Detection	InOutDoor	FPN-Fusion	AP	60.1	#4 of 6	Archive leaderboard	report
Object Detection	PKU-DDD17-Car	FPN-Fusion	mAP50	81.9	#7 of 14	Archive leaderboard	report
Object Detection	STCrowd	FPN-Fusion	AP	61.5	#2 of 6	Archive leaderboard	report

Ranks are positions in the archive's leaderboards as they stood at the 2025-07-28 snapshot. Results published since then are not among these rows, so a rank here is not a current standing.

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