HRFuser: A Multi-resolution Sensor Fusion Architecture for 2D Object Detection

Understand

Besides standard cameras, autonomous vehicles typically include multiple additional sensors, such as lidars and radars, which help acquire richer information for perceiving the content of the driving scene.

• While several recent works focus on fusing certain pairs of sensors - such as camera with lidar or radar - by using architectural components specific to the examined setting, a generic and modular sensor fusion architecture is missing from the literature.
• In this work, we propose HRFuser, a modular architecture for multi-modal 2D object detection.
• It fuses multiple sensors in a multi-resolution fashion and scales to an arbitrary number of input modalities.