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It is vital that autonomous vehicles acquire accurate and real-time information about objects in their vicinity, which fully guarantees the safety of the passengers and vehicle in various environments. Three-dimensional light detection and ranging (3D LIDAR) sensors can directly obtain the position and geometric structure of an object within its detection range, whereas the use of vision cameras is most suitable for object recognition. Accordingly, in this paper, we present a novel object detection and identification method that fuses the complementary information obtained by two types of sensors. First, we utilise 3D LIDAR data to generate accurate object-region proposals. Then, these candidates are mapped onto the image space from which regions of interest (ROI) of the proposals are selected and input to a convolutional neural network (CNN) for further object recognition. To precisely identify the sizes of all the …