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恶劣天候三维目标检测论文列表整理

news 2025/8/24 8:42:55

恶劣天候三维目标检测论文列表

在这里插入图片描述

图摘自Kradar

🏠 介绍

Hi，这是有关恶劣天气下三维目标检测的论文列表。主要是来源于近3年研究过程中认为有意义的文章。希望能为新入门的研究者提供一些帮助。

可能比较简陋，存在一定的遗漏，欢迎在Issue中提出，我们会及时更新~

github链接：https://github.com/ylwhxht/3D_Object_Detection_in_Adverse_Weather_Paper_List
（觉得有用的话来个⭐，谢谢^ _ ^）

📚 Table of Contents

Survey
Dataset
Weather Quantitative Analysis
LiDAR Adverse Weather Simulation
LiDAR Denoiser
LiDAR-based/with Camera Detector
4D Radar-based/with Camera Detector
LiDAR+3D Radar Fusion Detector
LiDAR+4D Radar Fusion Detector
with Cooperative Perception

Surveys 🔝

2022

Perception and Sensing for Autonomous Vehicles Under Adverse Weather Conditions: A Survey
ISPRS 2022
[paper]
3D Object Detection for Autonomous Driving: A Survey
Pattern Recognition 2022
[paper]

2023

Performance and Challenges of 3D Object Detection Methods in Complex Scenes for Autonomous Driving
TIV 2023
[paper]
Survey on LiDAR Perception in Adverse Weather Conditions
IV 2023
[paper]

2024

Object Detection in Autonomous Vehicles under Adverse Weather: A Review of Traditional and Deep Learning Approaches
Algorithms 2024
[paper]
Perception Methods for Adverse Weather Based on Vehicle Infrastructure Cooperation System: A Review
Sensors 2024
[paper]
Robustness-Aware 3D Object Detection in Autonomous Driving: A Review and Outlook
TITS 2024
[paper]

2025

LiDAR Denoising Methods in Adverse Environments: A Review
Sensors 2025
[paper]

Datasets 🔝

2021

[DENSE(STF)]: Seeing Through Fog Without Seeing Fog: Deep Multimodal Sensor Fusion in Unseen Adverse Weather
CVPR 2020
[paper] [data]
[WOD-DA]: Waymo Open Dataset Domain Adaptation
2020
[data]

2022

[CADC]: Canadian Adverse Driving Conditions Dataset
IJRR 2021
[paper] [data]

2023

[Kradar]: K-radar: 4d radar object detection for autonomous driving in various weather conditions
NIPS 2022
[paper] [code&data]
[WADS]: Winter adverse driving dataset for autonomy in inclement winter weather
Optical Engineering 2023
[paper] [code&data]
[SemanticSpray++]: SemanticSpray++: A Multimodal Dataset for Autonomous Driving in Wet Surface Conditions
IV 2024
[paper] [code&data]

2024

Is Your LiDAR Placement Optimized for 3D Scene Understanding?
NIPS 2024
[paper] [code&data]

Weather Quantitative Analysis🔝

2009

Performance of Laser and Radar Ranging Devices in Adverse Environmental Conditions
Journal of Field Robotics 2009
[paper]

2018

A Benchmark for Lidar Sensors in Fog: Is Detection Breaking Down?
IV 2018
[paper]

2020

Analysis of automotive lidar sensor model considering scattering effects in regional rain environments
Access 2020
[paper]

2021

A Quantitative Analysis of Point Clouds from Automotive Lidars Exposed to Artificial Rain and Fog
Atmosphere 2021
[paper]

2022

Measuring the Influence of Environmental Conditions on Automotive Lidar Sensors
Sensors 2022
[paper]
Camera and LiDAR analysis for 3D object detection in foggy weather conditions
ICPRS 2022
[paper]

2023

Benchmarking Robustness of 3D Object Detection to Common Corruptions in Autonomous Driving
CVPR 2023
[paper] [code]

2024

Effect of Fog Particle Size Distribution on 3D Object Detection Under Adverse Weather Conditions
Arxiv 2024
[paper]

LiDAR Adverse Weather Simulation🔝

2018

[FogSimulation]: A Benchmark for Lidar Sensors in Fog: Is Detection Breaking Down?
IV 2018
[paper]

2020

[Fog Simulation]: Seeing Through Fog Without Seeing Fog: Deep Multimodal Sensor Fusion in Unseen Adverse Weather
CVPR 2020
[paper] [code]

2021

[Fog Simulation]: Fog Simulation on Real LiDAR Point Clouds for 3D Object Detection in Adverse Weather
ICCV 2021
[paper] [code]
[Rain Simulation]: Lidar Light Scattering Augmentation (LISA): Physics-based Simulation of Adverse Weather Conditions for 3D Object Detection
Arxiv 2021
[paper] [code]

2022

[Snow Simulation]: https://arxiv.org/abs/2203.15118
CVPR 2022
[paper] [code]
[Spray Simulation]: Reconstruction and Synthesis of Lidar Point Clouds of Spray
RAL 2022
[paper] [code]

2023

[Various Simulation]: Benchmarking Robustness of 3D Object Detection to Common Corruptions in Autonomous Driving
CVPR 2023
[paper] [code]
[Snow Simulation]: LiDAR Point Cloud Translation Between Snow and Clear Conditions Using Depth Images and GANs
IV 2023
[paper]
[Various Simulation]: Robo3D: Towards Robust and Reliable 3D Perception against Corruptions
ICCV 2023
[paper] [code]
[Snow Simulation]: L-DIG: A GAN-Based Method for LiDAR Point Cloud Processing under Snow Driving Conditions
Sensors 2023
[paper]

2024

[Snow Simulation]: LiDAR Point Cloud Augmentation for Adverse Conditions Using Conditional Generative Model
Remote Sens. 2024
[paper]
[Rain Simulation]: Sunshine to Rainstorm: Cross-Weather Knowledge Distillation for Robust 3D Object Detection
AAAI 2024
[paper] [code]

2025

[Snow Simulation]: Adverse Weather Conditions Augmentation of LiDAR Scenes with Latent Diffusion Models
Arxiv. 2025
[paper]

LiDAR Denoiser🔝

2018

De-noising of lidar point clouds corrupted by snowfall
CRV 2018
[paper]

2020

Fast and Accurate Desnowing Algorithm for LiDAR Point Clouds
Access 2020
[paper]
CNN-based Lidar Point Cloud De-Noising in Adverse Weather
RAL 2020
[paper] [code]

2021

DSOR: A Scalable Statistical Filter for Removing Falling Snow from LiDAR Point Clouds in Severe Winter Weather
Arxiv 2021
[paper] [code]

2022

LiSnowNet: Real-time Snow Removal for LiDAR Point Cloud
IROS 2022
[paper]
De-snowing LiDAR Point Clouds With Intensity and Spatial-Temporal Features
ICRA 2022
[paper]
A Scalable and Accurate De-Snowing Algorithm for LiDAR Point Clouds in Winter
Remote Sens. 2022
[paper]
AdverseNet: A LiDAR Point Cloud Denoising Network for Autonomous Driving in Rainy Snowy and Foggy Weather
ICUS 2022
[paper] [code]
LiSnowNet: Real-time Snow Removal for LiDAR Point Clouds
IROS 2022
[paper] [code]
4denoisenet: Adverse weather denoising from adjacent point clouds
RAL. 2022
[paper] [code]
Adaptive Two-Stage Filter for De-snowing LiDAR Point Clouds
ICCRI 2022
[paper]

2023

RGOR: De-noising of LiDAR point clouds with reflectance restoration in adverse weather
ICTC. 2023
[paper]
DCOR: Dynamic Channel-Wise Outlier Removal to De-Noise LiDAR Data Corrupted by Snow
ICIP 2023
[paper]
GAN Inversion Based Point Clouds Denoising in Foggy Scenarios for Autonomous Driving
ICDL 2023
[paper]

2024

Denoising Point Clouds with Intensity and Spatial Features in Rainy Weather
TITS 2024
[paper]
RGB-LiDAR sensor fusion for dust de-filtering in autonomous excavation applications
Automation in Construction 2024
[paper]
TripleMixer: A 3D Point Cloud Denoising Model for Adverse Weather
Arxiv 2024
[paper] [code]
An improved point cloud denoising method in adverse weather conditions based on PP-LiteSeg network
PeerJ Computer Science 2024
[paper]
Denoising Framework Based on Multiframe Continuous Point Clouds for Autonomous Driving LiDAR in Snowy Weather
Sensors 2024
[paper] [code]
Dust De-Filtering in LiDAR Applications With Conventional and CNN Filtering Methods
Sensors 2024
[paper]
AdWeatherNet: Adverse Weather Denoising with Point Cloud Spatiotemporal Attention
VCIP 2024
[paper] [code]
3D-UnOutDet: A Fast and Efficient Unsupervised Snow Removal Algorithm for 3D LiDAR Point Clouds
Authorea Preprints 2024
[paper] [code]

2025

Semantic Segmentation Based Rain and Fog Filtering Only by LiDAR Point Clouds
Sensors. 2025
[paper]

LiDAR-based/with Camera Detector🔝

2020

1st Place Solution for Waymo Open Dataset Challenge - 3D Detection and Domain Adaptation
Arxiv 2020
[paper]

2021

SPG: Unsupervised Domain Adaptation for 3D Object Detection via Semantic Point Generation
CVPR 2021
[paper]

2022

Rethinking LiDAR Object Detection in adverse weather conditions
ICRA 2022
[paper]
Towards Robust 3D Object Detection In Rainy Conditions ITSC 2022
[paper] [code]
LossDistillNet: 3D Object Detection in Point Cloud Under Harsh Weather Conditions
Access 2022
[paper]
Robust 3D Object Detection in Cold Weather Conditions
IV 2022
[paper]
Robust-FusionNet: Deep Multimodal Sensor Fusion for 3-D Object Detection Under Severe Weather Conditions
TIM 2022
[paper]

2023

A Point Cloud-based 3D Object Detection Method for Winter Weather
ISCER 2023
[paper]
Source-free Unsupervised Domain Adaptation for 3D Object Detection in Adverse Weather
ICRA 2023
[paper] [code]
Enhancing Lidar-based Object Detection in Adverse Weather using Offset Sequences in Time
ICECET 2023
[paper]

2024

Geometric information constraint 3D object detection from LiDAR point cloud for autonomous vehicles under adverse weather
Transportation research part C: emerging technologies 2024
[paper]
Sunshine to Rainstorm: Cross-Weather Knowledge Distillation for Robust 3D Object Detection
AAAI 2024
[paper] [code]
SAMFusion: Sensor-Adaptive Multimodal Fusion for 3D Object Detection in Adverse Weather
ECCV 2024
[paper] [code]
LiDAR Point Cloud Augmentation for Adverse Conditions Using Conditional Generative Model
Remote Sensing 2024
[paper]

2025

AWARDistill: Adaptive and robust 3D object detection in adverse conditions through knowledge distillation,Expert Systems with Applications
2025
[paper]
3D vision object detection for autonomous driving in fog using LiDaR
Simulation Modelling Practice and Theory 2025
[paper]

4D Radar-based/with Camera Detector 🔝

2022

[RTNH]: K-radar: 4d radar object detection for autonomous driving in various weather conditions
NIPS 2022
[paper] [code&data]

2024

TL-4DRCF: A Two-Level 4-D Radar–Camera Fusion Method for Object Detection in Adverse Weather
Sensors 2024
[paper]

LiDAR+3D Radar Fusion Detector🔝

2020

Seeing Through Fog Without Seeing Fog: Deep Multimodal Sensor Fusion in Unseen Adverse Weather
CVPR 2020
[paper] [code]

2021

Robust Multimodal Vehicle Detection in Foggy Weather Using Complementary Lidar and Radar Signals
CVPR 2021
[paper] [code]

2022

Modality-Agnostic Learning for Radar-Lidar Fusion in Vehicle Detection
CVPR 2022
[paper]

2023

ST-MVDNET++: IMPROVE VEHICLE DETECTION WITH LIDAR-RADAR GEOMETRICAL AUGMENTATION VIA SELF-TRAINING
ICASSP 2023
[paper] [code]
Bi-LRFusion: Bi-Directional LiDAR-Radar Fusion for 3D Dynamic Object Detection
CVPR 2023
[paper]

2024

3D Object Detection Algorithm in Adverse Weather Conditions Based on LiDAR-Radar Fusion
CCC 2024
[paper]
RaLiBEV: Radar and LiDAR BEV Fusion Learning for Anchor Box Free Object Detection Systems
TCSVT 2024
[paper] [code]
SAMFusion: Sensor-Adaptive Multimodal Fusion for 3D Object Detection in Adverse Weather
ECCV 2024
[paper] [code]
TransFusion: Multi-Modal Robust Fusion for 3D Object Detection in Foggy Weather Based on Spatial Vision Transformer
TITS 2024
[paper]

LiDAR+4D Radar Fusion Detector🔝

2024

Towards Robust 3D Object Detection with LiDAR and 4D Radar Fusion in Various Weather Conditions
CVPR 2024
[paper] [code]
LiDAR-based All-weather 3D Object Detection via Prompting and Distilling 4D Radar
ECCV 2024
[paper] [code]

2025

L4DR: LiDAR-4DRadar Fusion for Weather-Robust 3D Object Detection
AAAI 2025
[paper] [code]

with Cooperative Perception 🔝

2024

V2X-DGW: Domain Generalization for Multi-agent Perception under Adverse Weather Conditions
Arxiv 2024
[paper]
Weather-Aware Collaborative Perception With Uncertainty Reduction has been published
TITS 2024
[paper] [data]