Segmentation Thermal

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Reference	Sensors	Semantics	Sensing Modality Representations	Fusion Operation and Method	Fusion Level	Dataset(s) used
Valada et al., 2019 [pdf][ref]	Visual camera, depth camera, thermal camera	Multiple 2D objects	RGB image, thermal image, depth image. Each processed by FCN with ResNet backbone (Adapnet++ architecture)	Extension of Mixture of Experts	Middle	Six datasets, including Cityscape, Sun RGB-D, etc.
Sun et al., 2019 [pdf][ref]	Visual camera, thermal camera	Multiple 2D objects in campus environments	RGB image, thermal image. Each processed by a base network built on ResNet	Element-wise summation in the encoder networks	Middle	Datasets published by [ref]
Guan et al., 2018 [pdf][ref]	Vision camera, thermal camera	2D Pedestrian	RGB image, thermal image. Each processed by a base network built on VGG16	Feature concatenation, Mixture of Experts	Early, Middle, Late	KAIST Pedestrian Dataset
Ha et al., 2017 [pdf][ref]	Vision camera, thermal camera	Multiple 2D objects in campus environments	RGB image, thermal image. Each processed by a FCN and mini-inception block	Feature concatenation, addition (``short-cut fusion'')	Middle	self-recorded data
Valada et al., 2017 [pdf][ref]	Vision camera, thermal camera	Multiple 2D objects	RGB image, thermal image, depth image. Each processed by FCN with ResNet backbone	Mixture of Experts	Late	Cityscape, Freiburg Multispectral Dataset, Synthia
Valada et al., 2016 [pdf][ref]	Vision camera, thermal camera	Multiple 2D objects in forested environments	RGB image, thermal image, depth image. Each processed by the UpNet (built on VGG16 and up-convolution)	Feature concatenation, addition	Early, Late	self-recorded data