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In the field of autonomous driving, carriers are equipped with a variety of sensors, including cameras and LiDARs. However, the camera suffers from problems of illumination and occlusion, and the LiDAR encounters motion distortion, degenerate environment and limited ranging distance. Therefore, fusing the information from these two sensors deserves to be explored. In this paper, we propose a fusion network which robustly captures both the image and point cloud descriptors to solve the placedoi:10.3390/s20102870 pmid:32438550 fatcat:xeqtt3ramrcr3abpylkpb3hk7u