# IRBEVF-Q: Optimization of Image–Radar Fusion Algorithm Based on Bird’s Eye View Features

## TL;DR

This paper introduces IRBEVF-Q, a new image-radar fusion model for autonomous driving that improves 3D object detection accuracy in harsh environments.

## Contribution

The novel IRBEVF-Q model introduces a BEV fusion coding module and query enhancements like HGQI, DPE, and ANQ for better sensor fusion.

## Key findings

- IRBEVF-Q achieves an NDS of 0.575 and mAP of 0.476 on the nuScenes test set.
- The model outperforms recent state-of-the-art methods in 3D object detection accuracy.

## Abstract

In autonomous driving, the fusion of multiple sensors is considered essential to improve the accuracy and safety of 3D object detection. Currently, a fusion scheme combining low-cost cameras with highly robust radars can counteract the performance degradation caused by harsh environments. In this paper, we propose the IRBEVF-Q model, which mainly consists of BEV (Bird’s Eye View) fusion coding module and an object decoder module.The BEV fusion coding module solves the problem of unified representation of different modal information by fusing the image and radar features through 3D spatial reference points as a medium. The query in the object decoder, as a core component, plays an important role in detection. In this paper, Heat Map-Guided Query Initialization (HGQI) and Dynamic Position Encoding (DPE) are proposed in query construction to increase the a priori information of the query. The Auxiliary Noise Query (ANQ) then helps to stabilize the matching. The experimental results demonstrate that the proposed fusion model IRBEVF-Q achieves an NDS of 0.575 and a mAP of 0.476 on the nuScenes test set. Compared to recent state-of-the-art methods, our model shows significant advantages, thus indicating that our approach contributes to improving detection accuracy.