Robust Object Detection Under Adverse Conditions via Event Camera and RGB Camera Fusion

An ICRA 2022 paper proposes a redundant sensor fusion model of event cameras and RGB cameras for robust object detection under image corruption and different weather conditions. The method takes voxel grid representations of events as input and processes frames and events separately through two parallel feature extractor networks. After training and evaluation on the public DSEC dataset, the fusion method improved robustness to common image corruptions by more than 30% compared with frame-only detection, and outperformed event-only detection.