RIGATING: Radar-Image Gated Attention Fusion for Multimodal Semantic Segmentation in Autonomous Mobile Systems

Ziegler P, Mehl J, Franke J, Reitelshöfer S (2026)

Publication Type: Conference contribution

Publication year: 2026

Publisher: SciTePress

Book Volume: 3

Pages Range: 529-537

Conference Proceedings Title: Proceedings of the 21st International Conference on Computer Vision Theory and Applications - Volume 3

Event location: Marbella ES

DOI: 10.5220/0014403300004084

Abstract

Autonomous mobile systems (AMS) require robust environmental perception, particularly in challenging environments where individual sensors exhibit limitations due to their inherent physical measurement principles. Therefore, this paper examines different fusion strategies from various multimodal domains for the semantic segmentation task and introduces RIGATING, a novel mid-level fusion architecture that integrates sparse radar point clouds with RGB images for semantic segmentation. Using gated attention mechanisms, our RIGATING architecture combines dual encoders, DeepLabV3+ with ResNet-101 backbone for RGB and PointNet++ for radar feature extraction, fused at high and low levels to dynamically weigh complementary information, including radar cross-section and velocity. Evaluated on the Zenseact Open Dataset (ZOD), RIGATING matches the RGB-baseline in interference-free scenarios, while demonstrating superior robustness under perturbations such as noise, blur, brightness and full sen sor ablations, achieving over 70 percent IoU on radar inputs alone. These advancements enhance perception reliability for mobile systems in adverse conditions and lay the groundwork for more intelligent, human-like sensor data processing. 

Authors with CRIS profile

Patrick Ziegler Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik (FAPS) Jörg Franke Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik (FAPS) Sebastian Reitelshöfer Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik (FAPS)

How to cite

APA:

Ziegler, P., Mehl, J., Franke, J., & Reitelshöfer, S. (2026). RIGATING: Radar-Image Gated Attention Fusion for Multimodal Semantic Segmentation in Autonomous Mobile Systems. In Proceedings of the 21st International Conference on Computer Vision Theory and Applications - Volume 3 (pp. 529-537). Marbella, ES: SciTePress.

MLA:

Ziegler, Patrick, et al. "RIGATING: Radar-Image Gated Attention Fusion for Multimodal Semantic Segmentation in Autonomous Mobile Systems." Proceedings of the 21st International Conference on Computer Vision Theory and Applications (VISAPP), Marbella SciTePress, 2026. 529-537.

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