Before revision:   We also propose a new "r-blended" hybrid depth modality for RGB-D multi-modal detection tasks .
After revision:  The proposed fusion mechanisms are driven by the estimated sensor measurement reliability values/weights. Reliable object detection in harsh lighting conditions is essential for applications such as self-driving vehicles and human-robot interaction. We also propose a new "r-blended" hybrid depth modality for RGB-D multi-modal detection tasks .