基于ConvNeXt和可变形交叉注意力的多模态3D目标检测方法
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1.南京信息工程大学自动化院 南京 210044;2.无锡学院自动化院 无锡 214105

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TN958.98

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江苏省产学研合作项目(BY20230688)资助


Multimodal 3D object detection method based on ConvNeXt and deformable cross attention
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1.School of Automation, Nanjing University of Information Science and Technology,Nanjing 210044, China; 2.School of Automation, Wuxi University,Wuxi 214105, China

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    摘要:

    近年来,随着新能源汽车的快速发展,3D目标检测作为自动驾驶技术的核心基础正变得愈发重要。融合雷达点云与图像等多模态信息的策略,能够显著提升目标检测的准确性与鲁棒性。受BEVDet启发,本研究提出了一种基于BEV(鸟瞰图)视角的改进多模态融合3D目标检测方法。该方法采用ConvNeXt网络结合FPN-DCN结构高效提取图像特征,并通过可变形交叉注意力机制实现图像与点云数据的深度融合,从而进一步提升模型的检测精度。在nuScenes自动驾驶数据集上的实验表明,本研究模型性能优异,在测试集上的NDS达到了64.9%,显著超越了大多数现有检测方法。

    Abstract:

    In recent years, with the rapid development of new energy vehicles, 3D object detection, as a core foundation of autonomous driving technology, has become increasingly important. Strategies that integrate multimodal information, such as radar point clouds and images, can significantly enhance the accuracy and robustness of object detection. Inspired by BEVDet, this paper proposes an improved multimodal fusion 3D object detection method based on the BEV (bird′s eye view) perspective. The method employs a ConvNeXt network combined with an FPN-DCN structure to efficiently extract image features and utilizes a deformable cross-attention mechanism to achieve deep fusion of image and point cloud data, thereby further enhancing the detection accuracy of the model. Experiments on the nuScenes autonomous driving dataset demonstrate the superior performance of our model, with an NDS of 64.9% on the test set, significantly outperforming most existing detection methods.

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周鹏,宋志强,胡凯,宋利鹏,李明阳.基于ConvNeXt和可变形交叉注意力的多模态3D目标检测方法[J].电子测量技术,2025,48(12):63-70

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  • 在线发布日期: 2025-07-28
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