计算机工程2025，Vol.51Issue(10)：18-26,9.DOI:10.19678/j.issn.1000-3428.0070569
HDMapFusion:用于自动驾驶的多模态融合高清地图生成(特邀)
HDMapFusion:High-Definition Map Generation with Multi-Modality Fusion for Autonomous Driving(Invited)
摘要
Abstract
The generation of High-Definition(HD)environmental semantic maps is indispensable for environmental perception and decision making in autonomous driving systems.To address the modality discrepancy between cameras and LiDARs in perception tasks,this paper proposes an innovative multimodal fusion framework,HDMapFusion,which significantly improves semantic map generation accuracy via feature-level fusion.Unlike traditional methods that directly fuse raw sensor data,our approach innovatively transforms both camera images and LiDAR point cloud features into a unified Bird's-Eye-View(BEV)representation,enabling physically interpretable fusion of multimodal information within a consistent geometric coordinate system.Specifically,this method first extracts visual features from camera images and 3D structural features from LiDAR point clouds using deep learning networks.Subsequently,a differentiable perspective transformation module converts the front-view image features into a BEV space and the LiDAR point clouds are projected into the same BEV space through voxelization.Building on this,an attention-based feature fusion module is designed to adaptively integrate the two modalities using weighted aggregation.Finally,a semantic decoder generates high-precision semantic maps containing lane lines,pedestrian crossings,road boundary lines,and other key elements.Systematic experiments conducted on the nuScenes benchmark dataset demonstrate that HDMapFusion significantly outperforms existing baseline methods in terms of HD map generation accuracy.These results validate the effectiveness and superiority of the proposed method,offering a novel solution to multimodal fusion in autonomous driving perception.关键词
高清地图生成/多模态融合/鸟瞰视图表示/自动驾驶/深度估计Key words
high-definition map generation/multi-modality fusion/Bird's-Eye-View(BEV)representation/autonomous driving/depth estimation分类
计算机与自动化引用本文复制引用
刘洋宏,付杨悠然,董性平..HDMapFusion:用于自动驾驶的多模态融合高清地图生成(特邀)[J].计算机工程,2025,51(10):18-26,9.基金项目
国家自然科学基金(62471342) （62471342）
中央高校基本科研业务费专项资金(2042024kf0036) （2042024kf0036）
澳门科学技术发展基金(001/2024/SKL) （001/2024/SKL）
智慧城市物联网国家重点实验室(澳门大学)开放课题(SKL-IoTSC(UM)-2024-2026/ORP/GA04/2023). （澳门大学）
