Yijin Xiong

Xinyu Zhang, Zhiwei Li, Zhenhong Zou et al. · tsinghua

Noise has always been nonnegligible trouble in object detection by creating confusion in model reasoning, thereby reducing the informativeness of the data. It can lead to inaccurate recognition due to the shift in the observed pattern, that requires a robust generalization of the models. To implement a general vision model, we need to develop deep learning models that can adaptively select valid information from multi-modal data. This is mainly based on two reasons. Multi-modal learning can break through the inherent defects of single-modal data, and adaptive information selection can reduce chaos in multi-modal data. To tackle this problem, we propose a universal uncertainty-aware multi-modal fusion model. It adopts a multi-pipeline loosely coupled architecture to combine the features and results from point clouds and images. To quantify the correlation in multi-modal information, we model the uncertainty, as the inverse of data information, in different modalities and embed it in the bounding box generation. In this way, our model reduces the randomness in fusion and generates reliable output. Moreover, we conducted a completed investigation on the KITTI 2D object detection dataset and its derived dirty data. Our fusion model is proven to resist severe noise interference like Gaussian, motion blur, and frost, with only slight degradation. The experiment results demonstrate the benefits of our adaptive fusion. Our analysis on the robustness of multi-modal fusion will provide further insights for future research.

Qianxin Qu, Yijin Xiong, Guipeng Zhang et al.

Cooperative LiDAR systems integrating vehicles and road infrastructure, termed V2I calibration, exhibit substantial potential, yet their deployment encounters numerous challenges. A pivotal aspect of ensuring data accuracy and consistency across such systems involves the calibration of LiDAR units across heterogeneous vehicular and infrastructural endpoints. This necessitates the development of calibration methods that are both real-time and robust, particularly those that can ensure robust performance in urban canyon scenarios without relying on initial positioning values. Accordingly, this paper introduces a novel approach to V2I calibration, leveraging spatial association information among perceived objects. Central to this method is the innovative Overall Intersection over Union (oIoU) metric, which quantifies the correlation between targets identified by vehicle and infrastructure systems, thereby facilitating the real-time monitoring of calibration results. Our approach involves identifying common targets within the perception results of vehicle and infrastructure LiDAR systems through the construction of an affinity matrix. These common targets then form the basis for the calculation and optimization of extrinsic parameters. Comparative and ablation studies conducted using the DAIR-V2X dataset substantiate the superiority of our approach. For further insights and resources, our project repository is accessible at https://github.com/MassimoQu/v2i-calib.

Xinyu Zhang, Yijin Xiong, Qianxin Qu et al.

In the typical urban intersection scenario, both vehicles and infrastructures are equipped with visual and LiDAR sensors. By successfully integrating the data from vehicle-side and road monitoring devices, a more comprehensive and accurate environmental perception and information acquisition can be achieved. The Calibration of sensors, as an essential component of autonomous driving technology, has consistently drawn significant attention. Particularly in scenarios involving multiple sensors collaboratively perceiving and addressing localization challenges, the requirement for inter-sensor calibration becomes crucial. Recent years have witnessed the emergence of the concept of multi-end cooperation, where infrastructure captures and transmits surrounding environment information to vehicles, bolstering their perception capabilities while mitigating costs. However, this also poses technical complexities, underscoring the pressing need for diverse end calibration. Camera and LiDAR, the bedrock sensors in autonomous driving, exhibit expansive applicability. This paper comprehensively examines and analyzes the calibration of multi-end camera-LiDAR setups from vehicle, roadside, and vehicle-road cooperation perspectives, outlining their relevant applications and profound significance. Concluding with a summary, we present our future-oriented ideas and hypotheses.