Toomas Tahves

CLFTv2: Efficient Camera-LiDAR Fusion for Semantic Segmentation via Hierarchical Feature Pyramids

Semantic segmentation for autonomous driving requires reliable detection of vulnerable road users (VRUs) despite heavy class imbalance. We introduce CLFTv2, a hierarchical camera-LiDAR fusion framework replacing global ViT attention with a Swin-based multi-scale encoder and a lightweight FPN-style residual decoder. Ope...