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.
Yolov4: Optimal speed and accu- racy of object detection, 2020
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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.