Adding per-point timestamp offsets and simulated staleness data augmentation makes a multi-sensor fusion detector robust to 100ms camera staleness without hurting synchronized performance.
Cramnet: Camera-radar fusion with ray-constrained cross-attention for robust 3d object detection
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Robust sensor fusion against on-vehicle sensor staleness
Adding per-point timestamp offsets and simulated staleness data augmentation makes a multi-sensor fusion detector robust to 100ms camera staleness without hurting synchronized performance.