CenterFusion: Center-based Radar and Camera Fusion for 3D Object Detection

November 2020

tl;dr: Early fusion of camera and radar based on CenterTrack.

Overall impression

This is one of the best paper on the topic of camera and radar fusion up till 2020Q4.

Data association between radar and camera is critical for radar and camera association. The naive solution of inspecting if a radar pin falls into one bbox is not robust as there is not a one-to-one mapping between radar detection and bbox. The paper proposed a frustum-based association method, consisting of frustum building and pillar expansion.

Key ideas

Technical details