Author

Toomas Tahves

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Preprint Sep 2026

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

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 is introduced, demonstrating that hierarchical local-attention fusion offers an efficient, scalable alternative to global-attention and query-based decod...

Toomas Tahves, Mauro Bellone, Raivo Sell · 0 citations