电讯技术2025，Vol.65Issue(10)：1561-1570,10.DOI:10.20079/j.issn.1001-893x.240628002
应用残差多层感知机的雷达相机融合三维目标检测
Radar-Camera Fusion for 3D Object Detection with Application of Residual Multilayer Perceptron
摘要
Abstract
To address the issue of insufficient feature extraction of millimeter-wave(MMW)radar point cloud and insufficient capturing of spatial relationship caused by the loss of spatial information when MMW radar point cloud is projected to two-dimensional(2D)image plane,which leads to object omission and misdetection,a radar-camera fusion three-dimensional(3D)object detection method called Residual Multilayer Perceptron Fusion(ResMLP-Fusion)is proposed.Firstly,the features of the multi-view image are extracted using an image feature extractor.Secondly,the radar point cloud is clustered by using the radar point cloud's positional information and the radar cross section information and then input into the designed ResMLP network to extract the point cloud features.Subsequently,the radar features and image features are sampled and fused using the deformable attention mechanism before updating the query,which is finally input to the decoder for decoding to perform 3D bounding box prediction and category prediction of the object,and the prediction results are iterated to improve the accuracy of the prediction results to realize 3D object detection with accuracy and robustness.The proposed method is evaluated on the nuScenes dataset,and the experimental results show that it achieves a mean average precision of 0.404 and a nuScenes detection score of 0.518.关键词
三维目标检测/毫米波雷达/视觉传感器/传感器融合/残差多层感知机Key words
3D object detection/millimeter-wave radar/vision sensor/sensor fusion/residual multilayer perceptron分类
信息技术与安全科学引用本文复制引用
黄晓红,田子然,徐坤强..应用残差多层感知机的雷达相机融合三维目标检测[J].电讯技术,2025,65(10):1561-1570,10.基金项目
国家科技部重点研发专项(2017YFE0135700) （2017YFE0135700）
深圳市科技创新委员会项目资助(JCYJ20210324120002007) （JCYJ20210324120002007）
广东省科技厅先进智能感知技术重点实验室科技计划项目(2019B121203006) （2019B121203006）
华北理工大学重点项目(ZD-YG-202317-23) （ZD-YG-202317-23）
