V2I-BEVF: Multi-modal Fusion Based on BEV Representation for Vehicle-Infrastructure Perception.

As one of the core modules of autonomous driving technology, environment perception has gradually become a hot research topic in industry and academia in recent years. However, self-driving vehicles face safety challenges due to the existence of perceptual blind spots and the lack of remote sensing capability. In this paper, a multi-modal fusion based on BEV representation for Vehicle-Infrastructure perception is proposed, referred to as V2I-BEVF, which mainly contains two branch networks for feature extraction from 2D images and 3D point clouds and transform them into BEV features, then use Deformable Attention Transformer to fuse and decode them in order to achieve high-precision real-time perception of road traffic participants. The V2I-BEVF algorithm proposed in this paper experimentally verified on the open-source roadside DAIR-V2X-I dataset from Tsinghua University and Baidu. The experimental results show that compared to several algorithm benchmarks provided by the DAIR-V2X-I dataset, the V2I-BEVF algorithm has a large improvement in pedestrian detection accuracy. Simultaneously, we verified the effectiveness of the proposed method on our collected dataset of roadside sensor devices. The V2I-BEVF algorithm can be combined with 5G/V2X communication technology and applied to V2I collaborative perception scenarios to take full advantage of wide roadside environmental perception vision and the small blind area.