Camera-LiDAR Fusion Method with Feature Switch Layer for Object Detection Networks

Abstract

Object detection is an important factor in the autonomous driving industry. Object detection for autonomous vehicles requires robust results, because various situations and environments must be considered. A sensor fusion method is used to implement robust object detection. A sensor fusion method using a network should effectively meld two features, otherwise, there is concern that the performance is substantially degraded. To effectively use sensors in autonomous vehicles, data analysis is required. We investigated papers in which the camera and LiDAR data change for effective fusion. We propose a feature switch layer for a sensor fusion network for object detection in cameras and LiDAR. Object detection performance was improved by designing a feature switch layer that can consider its environment during network feature fusion. The feature switch layer extracts and fuses features while considering the environment in which the sensor data changes less than during the learning network. We conducted an evaluation experiment using the Dense Dataset and confirmed that the proposed method improves the object detection performance.

Keywords

• deep learning
• sensor fusion
• object detection