Techniques are disclosed to facilitate, in autonomous vehicles, the robust detection and classification of objects in a scene using a static sensors in conjunction with event-based sensors. A trained system architecture may be implemented, and the fusion of both sensors thus allows for the consideration of scenes with overexposure, scenes with underexposure, as well as scenes in which there is no movement. In doing so, the autonomous vehicle may detect and classify objects in conditions in which each sensor, if operating separately, would not otherwise be able to classify (or classify with high uncertainty) due to the sensing environment.