Towards High Accuracy Low Latency Real-Time Road Information Collection: An Edge-Assisted Sensor Fusion Approach

In order to have low-latency real-time response to applications such as Vehicle-to-everything (V2X) communications in Intelligent Vehicle System, edge computing as a paradigm has been proposed to put computing resources near the data origin. The limited computing resources in edge devices results in degraded object recognition results. To resolve this problem, high-level sensor fusion is a promising solution, which make uses of object-level information from multiple sensors to increase the accuracy. However, general high-level camera-radar fusion method does not work well in street information collection scenario. In this paper, we identified the key challenges in low-latency street information collection scenario and developed a multipath-resistant camera-radar sensor fusion method to increase the performance of sensor fusion method in such a scenario. Extensive experiments have shown that our system can increase 45% of detection rate and reduce 13% of error on edge devices comparing with a state-of-the-art method.