EMIFF: Enhanced Multi-scale Image Feature Fusion for Vehicle-Infrastructure Cooperative 3D Object Detection

• URL: http://arxiv.org/abs/2402.15272v1
• Date: Fri, 23 Feb 2024 11:35:48 GMT
• Title: EMIFF: Enhanced Multi-scale Image Feature Fusion for Vehicle-Infrastructure Cooperative 3D Object Detection
• Authors: Zhe Wang, Siqi Fan, Xiaoliang Huo, Tongda Xu, Yan Wang, Jingjing Liu, Yilun Chen, Ya-Qin Zhang
• Abstract summary: Two major challenges persist in vehicle-infrastructure cooperative 3D (VIC3D) object detection. We propose a novel camera-based 3D detection framework for VIC3D task, Enhanced Multi-scale Image Feature Fusion (EMIFF) Experiments show that EMIFF achieves SOTA on DAIR-V2X-C datasets, significantly outperforming previous early-fusion and late-fusion methods with comparable transmission costs.
• Score: 23.32916754209488
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: In autonomous driving, cooperative perception makes use of multi-view cameras from both vehicles and infrastructure, providing a global vantage point with rich semantic context of road conditions beyond a single vehicle viewpoint. Currently, two major challenges persist in vehicle-infrastructure cooperative 3D (VIC3D) object detection: $1)$ inherent pose errors when fusing multi-view images, caused by time asynchrony across cameras; $2)$ information loss in transmission process resulted from limited communication bandwidth. To address these issues, we propose a novel camera-based 3D detection framework for VIC3D task, Enhanced Multi-scale Image Feature Fusion (EMIFF). To fully exploit holistic perspectives from both vehicles and infrastructure, we propose Multi-scale Cross Attention (MCA) and Camera-aware Channel Masking (CCM) modules to enhance infrastructure and vehicle features at scale, spatial, and channel levels to correct the pose error introduced by camera asynchrony. We also introduce a Feature Compression (FC) module with channel and spatial compression blocks for transmission efficiency. Experiments show that EMIFF achieves SOTA on DAIR-V2X-C datasets, significantly outperforming previous early-fusion and late-fusion methods with comparable transmission costs.

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