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8 June 2023 Radar and camera fusion for target detection based on attention enhancement
Yiwen Zhang, Yuanzheng Wang, Hao Dong, Wen Hu
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Proceedings Volume 12707, International Conference on Image, Signal Processing, and Pattern Recognition (ISPP 2023); 127070B (2023) https://doi.org/10.1117/12.2680917
Event: International Conference on Image, Signal Processing, and Pattern Recognition (ISPP 2023), 2023, Changsha, China
Abstract
To solve the problem of insufficient representation of radar information in the fusion process, this paper proposes a fusion architecture based on attention enhancement. Considering that the projection area of radar point clouds can provide target’s position information, the spatial attention weight is obtained from radar images and then weighted to the camera images to supply the target’s position information from radar. At the same time, the transverse velocity, radial velocity and distance of the targets are assigned to each channel of the radar images, and the channel attention mechanism is used to enhance the channel feature of the radar images. We adopt RetinaNet with the backbone of Mobilenetv2 to build the fusion network architecture and perform target detection for radar images and camera images. The result shows that the proposed fusion method performs better than baseline network on nuScenes dataset, the mAP increased by 2.56% and the network is more lightweight.
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Yiwen Zhang, Yuanzheng Wang, Hao Dong, and Wen Hu "Radar and camera fusion for target detection based on attention enhancement", Proc. SPIE 12707, International Conference on Image, Signal Processing, and Pattern Recognition (ISPP 2023), 127070B (8 June 2023); https://doi.org/10.1117/12.2680917
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KEYWORDS
Radar
Cameras
Image fusion
Feature extraction
Target detection
Radar sensor technology
Feature fusion
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