Xiong, Weiyi, Liu, Jianan, Huang, Tao, Han, Qing-Long, Xia, Yuxuan, and Zhu, Bing (2023) LXL: LiDAR Excluded Lean 3D Object Detection with 4D Imaging Radar and Camera Fusion. IEEE Transactions on Intelligent Vehicles. (In Press)

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Abstract

As an emerging technology and a relatively affordable device, the 4D imaging radar has already been confirmed effective in performing 3D object detection in autonomous driving. Nevertheless, the sparsity and noisiness of 4D radar point clouds hinder further performance improvement, and in-depth studies about its fusion with other modalities are lacking. On the other hand, as a new image view transformation strategy, “sampling” has been applied in a few image-based detectors and shown to outperform the widely applied “depth-based splatting” proposed in Lift-Splat-Shoot (LSS), even without image depth prediction. However, the potential of “sampling” is not fully unleashed. This paper investigates the “sampling” view transformation strategy on the camera and 4D imaging radar fusion-based 3D object detection. LiDAR Excluded Lean (LXL) model, predicted image depth distribution maps and radar 3D occupancy grids are generated from image perspective view (PV) features and radar bird’s eye view (BEV) features, respectively. They are sent to the core of LXL, called “radar occupancy-assisted depth-based sampling”, to aid image view transformation. We demonstrated that more accurate view transformation can be performed by introducing image depths and radar information to enhance the “sampling” strategy. Experiments on VoD and TJ4DRadSet datasets show that the proposed method outperforms the state-of-the-art 3D object detection methods by a significant margin without bells and whistles. Ablation studies demonstrate that our method performs the best among different enhancement settings.

Item ID:	80615
Item Type:	Article (Research - C1)
ISSN:	2379-8904
Copyright Information:	© 2023 IEEE.
Date Deposited:	04 Oct 2023 22:40
FoR Codes:	46 INFORMATION AND COMPUTING SCIENCES > 4611 Machine learning > 461103 Deep learning @ 40% 40 ENGINEERING > 4002 Automotive engineering > 400203 Automotive mechatronics and autonomous systems @ 20% 46 INFORMATION AND COMPUTING SCIENCES > 4603 Computer vision and multimedia computation > 460304 Computer vision @ 40%
SEO Codes:	22 INFORMATION AND COMMUNICATION SERVICES > 2204 Information systems, technologies and services > 220403 Artificial intelligence @ 50% 27 TRANSPORT > 2703 Ground transport > 270302 Autonomous road vehicles @ 50%
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