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TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving. (arXiv:2205.15997v1 [cs.CV])
cs.CV updates on arXiv.org arxiv.org
How should we integrate representations from complementary sensors for
autonomous driving? Geometry-based fusion has shown promise for perception
(e.g. object detection, motion forecasting). However, in the context of
end-to-end driving, we find that imitation learning based on existing sensor
fusion methods underperforms in complex driving scenarios with a high density
of dynamic agents. Therefore, we propose TransFuser, a mechanism to integrate
image and LiDAR representations using self-attention. Our approach uses
transformer modules at multiple resolutions to fuse perspective view and …
arxiv autonomous autonomous driving cv driving fusion sensor transformer