Vision meets mmWave Radar: 3D Object Perception Benchmark for Autonomous Driving

Sensor fusion is crucial for an accurate and robust perception system on autonomous vehicles. Most existing datasets and perception solutions focus on fusing cameras and LiDAR. However, the collaboration between camera and radar is significantly under-exploited. The incorporation of rich semantic information from the camera, and reliable 3D information from the radar can potentially achieve an efficient, cheap, and portable solution for 3D object perception tasks. It can also be robust to different lighting or all-weather driving scenarios due to the capability of mmWave radars. In this paper, we introduce the CRUW3D dataset, including 66K synchronized and well-calibrated camera, radar, and LiDAR frames in various driving scenarios. Unlike other large-scale autonomous driving datasets, our radar data is in the format of radio frequency (RF) tensors that contain not only 3D location information but also spatio-temporal semantic information. This kind of radar format can enable machine learning models to generate more reliable object perception results after interacting and fusing the information or features between the camera and radar.

FrameRS: A Video Frame Compression Model Composed by Self supervised Video Frame Reconstructor and Key Frame Selector

In this paper, we present frame reconstruction model: FrameRS. It consists self-supervised video frame reconstructor and key frame selector. The frame reconstructor, FrameMAE, is developed by adapting the principles of the Masked Autoencoder for Images (MAE) for video context. The key frame selector, Frame Selector, is built on CNN architecture. By taking the high-level semantic information from the encoder of FrameMAE as its input, it can predicted the key frames with low computation costs. Integrated with our bespoke Frame Selector, FrameMAE can effectively compress a video clip by retaining approximately 30% of its pivotal frames. Performance-wise, our model showcases computational efficiency and competitive accuracy, marking a notable improvement over traditional Key Frame Extract algorithms. The implementation is available on Github