基本信息

  • 来源: arxiv
  • 原始来源: https://arxiv.org/abs/2601.20847v1
  • 作者: Willams de Lima Costa, Thifany Ketuli Silva de Souza, Jonas Ferreira Silva, Carlos Gabriel Bezerra Pereira, Bruno Reis Vila Nova, Leonardo Silvino Brito, Rafael Raider Leoni, Juliano Silva, Valter Ferreira, Sibele Miguel Soares Neto, Samantha Uehara, Daniel Giacomo, João Marcelo Teixeira, Veronica Teichrieb, Cristiano Coelho de Araújo
  • 分类: cs.CV
  • 论文时间: 2026-01-28T18:46:29Z
  • 论文 PDF: https://arxiv.org/pdf/2601.20847v1.pdf

来源摘要/节选

Road surface classification (RSC) is a key enabler for environment-aware predictive maintenance systems. However, existing RSC techniques often fail to generalize beyond narrow operational conditions due to limited sensing modalities and datasets that lack environmental diversity. This work addresses these limitations by introducing a multimodal framework that fuses images and inertial measurements using a lightweight bidirectional cross-attention module followed by an adaptive gating layer that adjusts modality contributions under domain shifts. Given the limitations of current benchmarks, especially regarding lack of variability, we introduce ROAD, a new dataset composed of three complementary subsets: (i) real-world multimodal recordings with RGB-IMU streams synchronized using a gold-standard industry datalogger, captured across diverse lighting, weather, and surface conditions; (ii) a large vision-only subset designed to assess robustness under adverse illumination and heterogeneous capture setups; and (iii) a synthetic subset generated to study out-of-distribution generalization in scenarios difficult to obtain in practice. Experiments show that our method achieves a +1.4 pp improvement over the previous state-of-the-art on the PVS benchmark and an +11.6 pp improvement on our multimodal ROAD subset, with consistently higher F1-scores on minority classes. The framework also demonstrates stable performance across challenging visual conditions, including nighttime, heavy rain, and mixed-surface transitions. These findings indicate that combining affordable camera and IMU sensors with multimodal attention mechanisms provides a scalable, robust foundation for road surface understanding, particularly relevant for regions where environmental variability and cost constraints limit the adoption of high-end sensing suites.

来源说明

当前只保存了官方论文摘要，不代表论文全文。请以原始来源为准。

本页只呈现已做哈希绑定的来源证据，不包含基于旧正文或缺失原文的扩展推断。