{Christian Laugier Alessandro Renzaglia Khushdeep Singh Mann Anshul Paigwar Abhishek Tomy}

Abstract

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.