SparseFusion3D: Sparse Sensor Fusion for 3D Object Detection by Radar and Camera in Environmental Perception
Zedong Yu, Weibing Wan, Maiyu Ren, Xiuyuan Zheng, Zhijun Fang
Abstract
In the context of autonomous driving environment perception, multi-modal fusion plays a pivotal role in enhancing robustness, completeness, and accuracy, thereby extending the performance boundary of the perception system. However, directly applying LiDAR-related algorithms to radar and camera fusion leads to significant challenges, such as radar sparsity, absence of height information, and noise, resulting in substantial performance loss. To address these issues, our proposed method, SparseFusion3D, utilizes a dual-branch feature-level fusion network that fully models sensor interactions, effectively mitigating the adverse effects of radar sparsity and noise on modality association. Additionally, to enhance modal correlations and accuracy while alleviating radar point cloud sparsity and measurement ambiguity, we introduce MSPCP, which compensates for point cloud offset. Moreover, we integrate Radar Painter to leverage image information and further enhance MSPCP. SparseFusion3D exhibits competitive performance compared to previous radar-camera fusion models, achieving approximately 1.5x inference speedup with similar performance to dense query methods, while also improving by 20.1% compared to the baseline approach.