Paper
3 January 2025 An efficient multimodal fusion bird's-eye view 3D object detection algorithm
Ke Zheng, Qingxia Li, Chunsheng Zhao, Chuanyin Tian
Author Affiliations +
Proceedings Volume 13442, Fifth International Conference on Signal Processing and Computer Science (SPCS 2024); 134420S (2025) https://doi.org/10.1117/12.3053023
Event: Fifth International Conference on Signal Processing and Computer Science (SPCS 2024), 2024, Kaifeng, China
Abstract
At present, the perception method based on bird's-eye view has become the mainstream of autonomous driving perception. It realizes comprehensive perception of the vehicle's surrounding environment by fusing multiple sensors at the feature level. However, the existing multi-modal fusion perception methods based on bird's-eye view usually require extremely high computing resources, especially in the multi-camera view image conversion processing. In addition, the key to multimodal bird's-eye view perception lies in how to efficiently fuse point cloud features and image features. To address these defects, this paper proposes a novel multi-modal bird's-eye view perception algorithm. First, this paper proposes an index lookup calculation method for the conversion of multi-view image features to bird's-eye view perspective. This method greatly reduces the consumption of computing resources without basically reducing information. Secondly, this paper proposes a feature fusion method, which uses a cross-modal attention mechanism to enhance the interaction between different modal features, realize dynamic spatiotemporal alignment and fusion. Experimental results show that the method proposed in this paper can effectively perceive the environment and can be deployed on a real vehicle platform for real-time detection.
(2025) Published by SPIE. Downloading of the abstract is permitted for personal use only.
Ke Zheng, Qingxia Li, Chunsheng Zhao, and Chuanyin Tian "An efficient multimodal fusion bird's-eye view 3D object detection algorithm", Proc. SPIE 13442, Fifth International Conference on Signal Processing and Computer Science (SPCS 2024), 134420S (3 January 2025); https://doi.org/10.1117/12.3053023
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KEYWORDS
Point clouds

Object detection

Image fusion

Feature fusion

3D image processing

3D modeling

Autonomous driving

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