HVDetFusion: A Simple and Robust Camera-Radar Fusion Framework

원문 초록

In the field of autonomous driving, 3D object detection is a very important perception module. Although the current SOTA algorithm combines Camera and Lidar sensors, limited by the high price of Lidar, the current mainstream landing schemes are pure Camera sensors or Camera+Radar sensors. In this study, we propose a new detection algorithm called HVDetFusion, which is a multi-modal detection algorithm that not only supports pure camera data as input for detection, but also can perform fusion input of radar data and camera data. The camera stream does not depend on the input of Radar data, thus addressing the downside of previous methods. In the pure camera stream, we modify the framework of Bevdet4D for better perception and more efficient inference, and this stream has the whole 3D detection output. Further, to incorporate the benefits of Radar signals, we use the prior information of different object positions to filter the false positive information of the original radar data, according to the positioning information and radial velocity information recorded by the radar sensors to supplement and fuse the BEV features generated by the original camera data, and the effect is further improved in the process of fusion training. Finally, HVDetFusion achieves the new state-of-the-art 67.4\% NDS on the challenging nuScenes test set among all camera-radar 3D object detectors. The code is available at https://github.com/HVXLab/HVDetFusion