Wuyue WANG, Zhaofei XU, Chunyan QU, Ying LIN, Yufeng CHEN, Jian LIAO. BEV Space 3D Object Detection Algorithm Based on Fusion of Infrared Camera and LiDAR[J]. Acta Photonica Sinica, 2024, 53(1): 0111002
- Acta Photonica Sinica
- Vol. 53, Issue 1, 0111002 (2024)
Fig. 1. Frame figure of separable fusion sensing system
Fig. 2. Image encoder module
Fig. 3. DepthNet
Fig. 4. Improved DepthNet
Fig. 5. BEV pooling accelerator kernel
Fig. 6. Lidar branch structure
Fig. 7. Gating attention fusion mechanism module
Fig. 8. Data collection hardware platform and layout position
Fig. 9. Dataset scene distribution
Fig. 10. Embedded AI computing platform MIIVII APEX AD10
Fig. 11. City road scene test（RVIZ）
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Table 1. Ablation experiment of camera branch
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Table 2. Ablation experiment of fusion branch
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Table 3. Performance comparison of different voxelization method in lidar branches
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Table 4. Performance comparison of camera branch，lidar branch and fusion branch
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Table 5. Performance comparison of our model with other SOTA model
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