EMIFF: Enhanced Multi-scale Image Feature Fusion for Vehicle-Infrastructure Cooperative 3D Object Detection

Project page | Paper | VIMI |

EMIFF: Enhanced Multi-scale Image Feature Fusion for Vehicle-Infrastructure Cooperative 3D Object Detection Zhe Wang, Siqi Fan, Xiaoliang Huo, Tongda Xu, Yan Wang, Jingjing Liu, Yilun Chen, Ya-Qin Zhang.ICRA 2024.

This repository contains the official Pytorch implementation of training & evaluation code and the pretrained models for EMIFF/VIMI.

Abstract

In autonomous driving, cooperative perception makes use of multi-view cameras from both vehicles and infrastructure, providing a global vantage point with rich semantic context of road conditions beyond a single vehicle viewpoint. Currently, two major challenges persist in vehicle-infrastructure cooperative 3D (VIC3D) object detection: $1) inherent pose errors when fusing multi-view images, caused by time asynchrony across cameras; \2)$ information loss in transmission process resulted from limited communication bandwidth. To address these issues, we propose a novel camera-based 3D detection framework for VIC3D task, Enhanced Multi-scale Image Feature Fusion (EMIFF). To fully exploit holistic perspectives from both vehicles and infrastructure, we propose Multi-scale Cross Attention (MCA) and Camera-aware Channel Masking (CCM) modules to enhance infrastructure and vehicle features at scale, spatial, and channel levels to correct the pose error introduced by camera asynchrony. We also introduce a Feature Compression (FC) module with channel and spatial compression blocks for transmission efficiency. Experiments show that EMIFF achieves SOTA on DAIR-V2X-C datasets, significantly outperforming previous early-fusion and late-fusion methods with comparable transmission costs.

Methods

Get Started

• Installation
• Prepare Dataset
• Train and Test

Benchmark and Model Zoo

Modality:Image

Fusion	Method	Dataset	AP-3D (IoU=0.5)	AP-BEV (IoU=0.5)	Config	DownLoad
Only-Veh	ImvoxelNet	VIC-Sync	7.29	8.85	config	\
Only-Inf	ImvoxelNet	VIC-Sync	8.66	14.41	config	\
Late-Fusion	ImvoxelNet	VIC-Sync	11.08	14.76	\	\
Early-Fusion	BEVFormer_S	VIC-Sync	8.80	13.45	config	model/log
Early-Fusion	ImVoxelNet	VIC-Sync	12.72	18.17	config	model/log
Intermediate-Fusion	EMIFF	VIC-Sync	15.61	21.44	config	model/log

We evaluate Only-Veh/Only-Inf/Late-Fusion model following OpenDAIRV2X.

Acknowledgement

This project is not possible without the following codebases.

• OpenDAIRV2X
• MMDetection3D

Citation

If you find our work useful in your research, please consider citing:

@misc{wang2023vimi,
      title={VIMI: Vehicle-Infrastructure Multi-view Intermediate Fusion for Camera-based 3D Object Detection}, 
      author={Zhe Wang and Siqi Fan and Xiaoliang Huo and Tongda Xu and Yan Wang and Jingjing Liu and Yilun Chen and Ya-Qin Zhang},
      year={2023},
      eprint={2303.10975},
      archivePrefix={arXiv},
      primaryClass={cs.CV}
}

@inproceedings{wang2024emiff,
      title={EMIFF: Enhanced Multi-scale Image Feature Fusion for Vehicle-Infrastructure Cooperative 3D Object Detection}, 
      author={Zhe Wang and Siqi Fan and Xiaoliang Huo and Tongda Xu and Yan Wang and Jingjing Liu and Yilun Chen and Ya-Qin Zhang},
      booktitle = {2024 IEEE International Conference on Robotics and Automation (ICRA)},
      year = {2024}}
}