计算机应用研究2024，Vol.41Issue(4)：1258-1263,6.DOI:10.19734/j.issn.1001-3695.2023.07.0343
AF-CenterNet:基于交叉注意力机制的毫米波雷达和相机融合的目标检测
AF-CenterNet:object detection with fusion of millimeter-wave radar and camera using cross-attention mechanism
摘要
Abstract
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 tar-get 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 de-tecting 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.关键词
自动驾驶/目标检测/毫米波雷达/交叉注意力融合Key words
autonomous driving/object detection/millimeter-wave radar/cross-attention fusion分类
信息技术与安全科学引用本文复制引用
车俐,吕连辉,蒋留兵..AF-CenterNet:基于交叉注意力机制的毫米波雷达和相机融合的目标检测[J].计算机应用研究,2024,41(4):1258-1263,6.基金项目
国家自然科学基金资助项目(61561010) （61561010）
广西创新驱动发展专项资助项目(桂科AA21077008) （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) （GXKL06220102,GXKL06220108）
八桂学者专项经费资助项目(2019A51) （2019A51）
桂林电子科技大学研究生教育创新计划资助项目(2022YXW07,2022YCXS080) （2022YXW07,2022YCXS080）
2022年广西高等教育本科教学改革工程项目(2022JGB196) （2022JGB196）
桂林电子科技大学学位与研究生教改项目(2022YXW07,2023YXW02) （2022YXW07,2023YXW02）
广西研究生教育创新计划资助项目(YCSW2022271) （YCSW2022271）
