astyx_radar_camera_fusion.md

Astyx camera radar: Deep Learning Based 3D Object Detection for Automotive Radar and Camera

January 2020

tl;dr: Camera + radar fusion based on AVOD.

Overall impression

Key ideas

The architecture is largely based on AVOD. It converts radar into height and intensity maps and uses the pseudo image and camera image for region proposal.

Technical details

• Bbox encoding has 10 dim (4 pts + 2 z-values) in the original AVOD paper. However this paper said it used 14 dim.
• Radar+camera does not detect perpendicular cars well. However it detects cars that align with the direction of the ego car much better.