Towards robust multimodal 3D object detection via visual foundation models

Abstract:Multimodal 3D object detection is fundamental to robust perception in autonomous driving because it integrates complementary information from LiDAR and camera sensors. However, existing methods often fail to maintain robustness under out-of-distribution (OOD) corruptions caused by sensor noise, adverse weather, and environmental changes. To address this problem, we propose RoboDistill, a robust and generalizable multimodal 3D object detection framework that leverages visual foundation models (VFMs), such as the Segment Anything Model (SAM). First, we introduce SAM-AD, a domain-specific pretraining strategy that fine-tunes SAM on autonomous-driving imagery to extract feature representations with rich semantic information. Second, we design the AD Feature Pyramid Network (AD-FPN) to refine and upsample SAM features at multiple scales for seamless fusion with LiDAR features. Third, we develop the Depth-Guided Wavelet Attention (DGWA) module, which suppresses high-frequency sensor noise while preserving critical contextual information. Finally, we introduce KD Fusion, in which the pretrained SAM-AD serves as a teacher that distills high-quality visual knowledge into a lightweight point-cloud network, thereby improving robustness under noisy conditions. Extensive experiments across 27 challenging OOD corruption settings show that RoboDistill generally delivers stronger or competitive detection performance and robustness relative to representative state-of-the-art methods. This work bridges the gap between VFMs and 3D object detection and advances robust multimodal perception for real-world autonomous-driving applications.

27 pages, 5 figures. Bilingual English-Chinese manuscript; the complete English version appears first, followed by the complete Chinese version

Computer Vision and Pattern Recognition (cs.CV); Robotics (cs.RO)

arXiv:2609.23541 [cs.CV]

(or arXiv:2609.23541v1 [cs.CV] for this version)

https://doi.org/10.48550/arXiv.2609.23541 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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