Achelous: A Fast Unified Water-surface Panoptic Perception Framework based on Fusion of Monocular Camera and 4D mmWave Radar

TL;DR

Achelous is a fast, low-cost unified perception framework for water-surface autonomous navigation that fuses monocular camera and 4D mmWave radar data to perform multiple perception tasks simultaneously.

Contribution

It introduces the first comprehensive panoptic perception framework for water surfaces, combining vision and point-cloud tasks with high efficiency and robustness.

Findings

Achieves 18 FPS on NVIDIA Jetson AGX Xavier

Outperforms HybridNets, YOLOX-Tiny, and Segformer-B0 in speed and accuracy

Excels under adverse weather, darkness, and camera failure conditions

Abstract

Current perception models for different tasks usually exist in modular forms on Unmanned Surface Vehicles (USVs), which infer extremely slowly in parallel on edge devices, causing the asynchrony between perception results and USV position, and leading to error decisions of autonomous navigation. Compared with Unmanned Ground Vehicles (UGVs), the robust perception of USVs develops relatively slowly. Moreover, most current multi-task perception models are huge in parameters, slow in inference and not scalable. Oriented on this, we propose Achelous, a low-cost and fast unified panoptic perception framework for water-surface perception based on the fusion of a monocular camera and 4D mmWave radar. Achelous can simultaneously perform five tasks, detection and segmentation of visual targets, drivable-area segmentation, waterline segmentation and radar point cloud segmentation. Besides, models in Achelous family, with less than around 5 million parameters, achieve about 18 FPS on an NVIDIA Jetson AGX Xavier, 11 FPS faster than HybridNets, and exceed YOLOX-Tiny and Segformer-B0 on our collected dataset about 5 mAP$_{\text{50-95}}$ and 0.7 mIoU, especially under situations of adverse weather, dark environments and camera failure. To our knowledge, Achelous is the first comprehensive panoptic perception framework combining vision-level and point-cloud-level tasks for water-surface perception. To promote the development of the intelligent transportation community, we release our codes in \url{https://github.com/GuanRunwei/Achelous}.