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A Multi-Modal Perception Pipeline for Object Detection and Tracking in Autonomous Racing

arXiv · AI, language, vision and robotics · article · Sep 8, 2026 · UTC

Object detection and tracking are fundamental components of perception systems for autonomous driving. Achieving robust performance under adverse conditions such as limited visibility, sensor noise, and failures remains an open challenge, particularly in autonomous racing, where vehicles operate at very high speeds, experience strong vibrations, and interact under small safety margins. This paper presents a multi-modal late-fusion perception pipeline for object detection and tracking in the autonomous racing domain. The proposed system extends previous work by exploiting all onboard sensors th

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