ABC	Adaptive Bridge Controller
ACMD	Adaptive Cross-Modal Denoising
AV	Autonomous Vehicle
CD	Chamfer Distance
CMD	Cross-Modal Denoising
GDFN	Gated Depthwise Feed-Forward Network
InfoNCE	Info Noise Contrastive Estimation
JDE	Joint Detection Error
Lcm	Cross-Modal Denoising Loss
Lcon	Contrastive Loss
Lrec	Reconstruction Loss
LN	Layer Normalization
mIoU	Mean Intersection over Union
MLP	Multi-Layer Perceptron
PSNR	Peak Signal-to-Noise Ratio