SYSTEM AND METHOD FOR 3D OBJECT DETECTION BY AN AUTONOMOUS VEHICLE IN ADVERSE ENVIRONMENTAL CONDITIONS USING MULTIMODAL FUSION

An autonomy computing system of an autonomous vehicle for object detection in adverse environmental conditions is provided. The at least one processor of the autonomy computing system is programmed to receive sensor data from one or more sensors of a plurality of modalities, the second sensor data being in a bird's eye view (BEV). The at least one processor is further programmed to extract first features and second features in the environment, and to fuse, in the BEV, the first features and the second features into first enriched features and second enriched features. The at least one processor is also programmed to detect object proposals based on the first enriched features and the second enriched features, predict objects in the environment based on the object proposals, and control operation of the autonomous vehicle based on predicted objects.