Peicheng Shi1,*, Heng Qi1, Zhiqiang Liu1, Aixi Yang2
CMES-Computer Modeling in Engineering & Sciences, Vol.135, No.3, pp. 2007-2023, 2023, DOI:10.32604/cmes.2023.022304
Abstract 3D vehicle detection based on LiDAR-camera fusion is becoming an emerging research topic in autonomous driving. The algorithm based on the Camera-LiDAR object candidate fusion method (CLOCs) is currently considered to be a more effective decision-level fusion algorithm, but it does not fully utilize the extracted features of 3D and 2D. Therefore, we proposed a 3D vehicle detection algorithm based on multimodal decision-level fusion. First, project the anchor point of the 3D detection bounding box into the 2D image, calculate the distance between 2D and 3D anchor points, and use this distance as a new fusion feature to enhance the… More >
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