Technology of Graphic & Image
|
1258-1263

AF-CenterNet: object detection with fusion of millimeter-wave radar and camera using cross-attention mechanism

Che Lia,b
Lyu Lianhuia
Jiang Liubinga,b
a. School of Information & Communication, b. Guangxi Key Laboratory of Wireless Broadband Communication & Signal Processing, Guilin University of Electronic Technology, Guilin Guangxi 541004, China

Abstract

For the field of autonomous driving, it is crucial to ensure accurate detection of other vehicle targets under various weather and lighting conditions. To address the limitations of the information acquired by a single sensor, this paper proposed a fusion method(AF) based on the cross-attention mechanism for fusing millimeter-wave radar and camera information at the feature level. It first spatially aligned the millimeter-wave radar and camera, projecting the aligned point cloud information into a point cloud image. Then, it expanded the point cloud image in the height and width directions to improve the match between the camera image and the point cloud image. Finally, it sent the point cloud image and the camera image into a CenterNet target detection network containing the AF structure for training and generated a spatial attention weight to enhance key features in the camera. The experimental results show that the AF structure can improve the performance of the original network in detecting targets of various sizes, especially for small targets, and has little impact on the real-time performance of the system, which makes it an ideal choice for improving the detection accuracy of vehicles in a variety of scenarios.

Foundation Support

国家自然科学基金资助项目(61561010)
广西创新驱动发展专项资助项目(桂科AA21077008)
广西无线宽带通信与信号处理重点实验室2022年主任基金资助项目(GXKL06220102,GXKL06220108)
八桂学者专项经费资助项目(2019A51)
桂林电子科技大学研究生教育创新计划资助项目(2022YXW07,2022YCXS080)
2022年广西高等教育本科教学改革工程项目(2022JGB196)
桂林电子科技大学学位与研究生教改项目(2022YXW07,2023YXW02)
广西研究生教育创新计划资助项目(YCSW2022271)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2023.07.0343
Publish at: Application Research of Computers Printed Article, Vol. 41, 2024 No. 4
Section: Technology of Graphic & Image
Pages: 1258-1263
Serial Number: 1001-3695(2024)04-044-1258-06

Publish History

[2023-11-01] Accepted Paper
[2024-04-05] Printed Article

Cite This Article

车俐, 吕连辉, 蒋留兵. AF-CenterNet:基于交叉注意力机制的毫米波雷达和相机融合的目标检测 [J]. 计算机应用研究, 2024, 41 (4): 1258-1263. (Che Li, Lyu Lianhui, Jiang Liubing. AF-CenterNet: object detection with fusion of millimeter-wave radar and camera using cross-attention mechanism [J]. Application Research of Computers, 2024, 41 (4): 1258-1263. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.


Indexed & Evaluation

  • The Second National Periodical Award 100 Key Journals
  • Double Effect Journal of China Journal Formation
  • the Core Journal of China (Peking University 2023 Edition)
  • the Core Journal for Science
  • Chinese Science Citation Database (CSCD) Source Journals
  • RCCSE Chinese Core Academic Journals
  • Journal of China Computer Federation
  • 2020-2022 The World Journal Clout Index (WJCI) Report of Scientific and Technological Periodicals
  • Full-text Source Journal of China Science and Technology Periodicals Database
  • Source Journal of China Academic Journals Comprehensive Evaluation Database
  • Source Journals of China Academic Journals (CD-ROM Version), China Journal Network
  • 2017-2019 China Outstanding Academic Journals with International Influence (Natural Science and Engineering Technology)
  • Source Journal of Top Academic Papers (F5000) Program of China's Excellent Science and Technology Journals
  • Source Journal of China Engineering Technology Electronic Information Network and Electronic Technology Literature Database
  • Source Journal of British Science Digest (INSPEC)
  • Japan Science and Technology Agency (JST) Source Journal
  • Russian Journal of Abstracts (AJ, VINITI) Source Journals
  • Full-text Journal of EBSCO, USA
  • Cambridge Scientific Abstracts (Natural Sciences) (CSA(NS)) core journals
  • Poland Copernicus Index (IC)
  • Ulrichsweb (USA)