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恶劣天候三维目标检测论文列表

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]

2025

• V2X-R: Cooperative LiDAR-4D Radar Fusion for 3D Object Detection with Denoising Diffusion
  CVPR 2025
  [paper] [code]