Volume 13 Issue 1
Feb.  2024
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WANG Binglu, JIN Yang, ZHANG Lei, et al. Collaborative perception method based on multisensor fusion[J]. Journal of Radars, 2024, 13(1): 87–96. doi: 10.12000/JR23184
Citation: WANG Binglu, JIN Yang, ZHANG Lei, et al. Collaborative perception method based on multisensor fusion[J]. Journal of Radars, 2024, 13(1): 87–96. doi: 10.12000/JR23184
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Collaborative Perception Method Based on Multisensor Fusion

DOI: 10.12000/JR23184
  • 1.

    College of Information and Control Engineering, Xi’an University of Architecture and Technology, Xi’an 710399, China

  • 2.

    School of Information and Electronics, Beijing Institute of Technology, Beijing 100081, China

  • 3.

    School of Automation, Northwestern Polytechnical University, Xi’an 710129, China

  • 4.

    School of Computer Science & Technology, Beijing Institute of Technology, Beijing 100081, China

Funds:  China Postdoctoral Science Foundation (2022M710393, 2022TQ0035)
More Information
  • Corresponding author: ZHOU Tianfei, ztfei.debug@gmail.com
  • Received Date: 2023-10-04
  • Rev Recd Date: 2023-12-10
    • Available Online: 2023-12-15
  • Publish Date: 2023-12-27
    Abstract
  • This paper proposes a novel multimodal collaborative perception framework to enhance the situational awareness of autonomous vehicles. First, a multimodal fusion baseline system is built that effectively integrates Light Detection and Ranging (LiDAR) point clouds and camera images. This system provides a comparable benchmark for subsequent research. Second, various well-known feature fusion strategies are investigated in the context of collaborative scenarios, including channel-wise concatenation, element-wise summation, and transformer-based methods. This study aims to seamlessly integrate intermediate representations from different sensor modalities, facilitating an exhaustive assessment of their effects on model performance. Extensive experiments were conducted on a large-scale open-source simulation dataset, i.e., OPV2V. The results showed that attention-based multimodal fusion outperforms alternative solutions, delivering more precise target localization during complex traffic scenarios, thereby enhancing the safety and reliability of autonomous driving systems.

     

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