现代雷达2026，Vol.48Issue(6)：32-42,11.DOI:10.16592/j.cnki.1004-7859.2025031
基于交叉注意力机制的雷视融合三维目标检测研究
A Study on 3D Object Detection of Radar-visual Fusion Based on Cross-attention Mechanism
摘要
Abstract
Extremely high requirements are put forward for the reliability and accuracy of perception algorithms in complex driving scenarios of autonomous driving.The premise for the system to stably complete tasks such as environmental perception,target rec-ognition,and decision-making planning is that the state and attribute information of road traffic targets can be accurately acquired and fully characterized under various complex weather conditions,such as variable illumination,rain,snow,and haze.Aiming at the practical challenges in the field of autonomous driving perception,including large differences in heterogeneous features of multi-modal sensors,weak information correlation,and high fusion difficulty,a radar-vision joint perception method integrated with at-tention mechanism is proposed in this paper.The four-dimensional millimeter-wave radar point cloud is converted into a pseudo-im-age representation that retains spatial height dimension information,and channel attention and cross-attention are introduced for collaborative modeling,thereby realizing the adaptive correlation,bidirectional interaction,and weight enhancement of radar and visual heterogeneous features.The results of comparative experiments carried out based on the view-of-Delft dataset show that the average precision of three-dimensional object detection of the proposed method can reach 45.3%,which is 28.3%higher than that of the baseline model,and the detection accuracy and robustness of key traffic targets such as pedestrians and vehicles under com-plex working conditions can be effectively improved.关键词
三维目标检测/异构传感器融合/毫米波雷达/交叉注意力融合/伪图像生成Key words
three-dimensional(3D)object detection/heterogeneous sensor fusion/millimeter-wave radar/cross-attention fusion/pseudo-image generation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,李代江..基于交叉注意力机制的雷视融合三维目标检测研究[J].现代雷达,2026,48(6):32-42,11.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(2024YCXS032) （2024YCXS032）
2022年广西高等教育本科教学改革工程资助项目(2022JGB196) （2022JGB196）
桂林电子科技大学学位与研究生教改资助项目(2022YXW07,2023YXW02) （2022YXW07,2023YXW02）
广西研究生教育创新计划资助项目(YCSW2022271) （YCSW2022271）
