摘要
对于自动驾驶领域而言,确保在各种天气和光照条件下精确检测其他车辆目标是至关重要的。针对单个传感器获取信息的局限性,提出一种基于cross-attention注意力机制的融合方法(AF),用于在特征层面上融合毫米波雷达和相机信息。首先,将毫米波雷达和相机进行空间对齐,并将对齐后的点云信息投影成点云图像。然后,将点云图像在高度和宽度方向上进行扩展,以提高相机图像和点云图像之间的匹配度。最后,将点云图像和相机图像送入包含AF结构的CenterNet目标检测网络中进行训练,并生成一个空间注意力权重,以增强相机中的关键特征。实验结果表明,AF结构可以提高原网络检测各种大小目标的性能,特别是对小目标的检测提升更为明显,且对系统的实时性影响不大,是提高车辆在多种场景下检测精度的理想选择。
For the field of autonomous driving,it is crucial to ensure accurate detection of other vehicle targets under various weather and lighting conditions.To address the limitations of the information acquired by a single sensor,this paper proposed a fusion method(AF)based on the cross-attention mechanism for fusing millimeter-wave radar and camera information at the feature level.It first spatially aligned the millimeter-wave radar and camera,projecting the aligned point cloud information into a point cloud image.Then,it expanded the point cloud image in the height and width directions to improve the match between the camera image and the point cloud image.Finally,it sent the point cloud image and the camera image into a CenterNet target detection network containing the AF structure for training and generated a spatial attention weight to enhance key features in the camera.The experimental results show that the AF structure can improve the performance of the original network in detecting targets of various sizes,especially for small targets,and has little impact on the real-time performance of the system,which makes it an ideal choice for improving the detection accuracy of vehicles in a variety of scenarios.
作者
车俐
吕连辉
蒋留兵
Che Li;Lyu Lianhui;Jiang Liubing(School of Information&Communication,Guilin University of Electronic Technology,Guilin Guangxi 541004,China;Guangxi Key Laboratory of Wireless Broadband Communication&Signal Processing,Guilin University of Electronic Technology,Guilin Guangxi 541004,China)
出处
《计算机应用研究》
CSCD
北大核心
2024年第4期1258-1263,共6页
Application Research of Computers
基金
国家自然科学基金资助项目(61561010)
广西创新驱动发展专项资助项目(桂科AA21077008)
广西无线宽带通信与信号处理重点实验室2022年主任基金资助项目(GXKL06220102,GXKL06220108)
八桂学者专项经费资助项目(2019A51)
桂林电子科技大学研究生教育创新计划资助项目(2022YXW07,2022YCXS080)
2022年广西高等教育本科教学改革工程项目(2022JGB196)
桂林电子科技大学学位与研究生教改项目(2022YXW07,2023YXW02)
广西研究生教育创新计划资助项目(YCSW2022271)。
关键词
自动驾驶
目标检测
毫米波雷达
交叉注意力融合
autonomous driving
object detection
millimeter-wave radar
cross-attention fusion
