Availability-aware Sensor Fusion via Unified Canonical Space for 4D Radar, LiDAR, and Camera

원문 초록

Sensor fusion of camera, LiDAR, and 4-dimensional (4D) Radar has brought a significant performance improvement in autonomous driving (AD). However, there still exist fundamental challenges: deeply coupled fusion methods assume continuous sensor availability, making them vulnerable to sensor degradation and failure, whereas sensor-wise cross-attention fusion methods struggle with computational cost and unified feature representation. This paper presents availability-aware sensor fusion (ASF), a novel method that employs unified canonical projection (UCP) to enable consistency in all sensor features for fusion and cross-attention across sensors along patches (CASAP) to enhance robustness of sensor fusion against sensor degradation and failure. As a result, the proposed ASF shows a superior object detection performance to the existing state-of-the-art fusion methods under various weather and sensor degradation (or failure) conditions; Extensive experiments on the K-Radar dataset demonstrate that ASF achieves improvements of 9.7% in AP BEV (87.2%) and 20.1% in AP 3D (73.6%) in object detection at IoU=0.5, while requiring a low computational cost. The code will be available at https://github.com/kaist-avelab/K-Radar.