DTC-YOLO: Multimodal Object Detection via Depth-Texture Coupling and Dynamic Gating Optimization

To address the inherent limitations of single-modality sensors constrained by physical properties and data modalities, we propose DTC-YOLO(Depth-Texture Coupling Mechanism YOLO), a depth-texture coupled multimodal detection framework. The main contributions are as follows: RGB-LiDAR(RGB-Light Detection and Ranging) Fusion: We propose a depth-color mapping and weighted fusion strategy to effectively integrate depth and texture features. ADF3-Net(Adaptive Dimension-aware Focused Fusion Network): A feature fusion network with hierarchical perception, channel decoupling, and spatial adaptation. A dynamic gated fusion mechanism enables adaptive weighting across multidimensional features, thereby enhancing depth-texture representation. Adown Module: A dual-path adaptive downsampling module that separates high-frequency details from low-frequency semantics, reducing GFLOPs(Giga Floating-point Operations Per Second) by 10.53% while maintaining detection performance. DTC-YOLO achieves substantial improvements over the baseline: +3.50% mAP50, +3.40% mAP50-95, and +3.46% precision. Moreover, it maintains moderate improvements for medium-scale objects while significantly enhancing detection of extremely large and small objects, effectively mitigating the scale-related accuracy discrepancies of vision-only models in complex traffic environments.