CoFormerNet:一种基于变压器的融合方法,用于增强车辆基础设施合作感知
Bin Li1, Yanan Zhao2, Huachun Tan1,3,4
1School of Transportation, Southeast University, Nanjing 211189, China.
Sensors (Basel, Switzerland)
|July 13, 2024
概括
本研究介绍了CoFormerNet,这是一个新的框架,通过合并车辆和基础设施数据来增强对自动驾驶系统的合作感知. CoFormerNet实现了最先进的3D对象检测,提高了安全性和效率.
科学领域:
- 计算机科学 计算机科学
- 机器人技术 机器人技术 机器人技术
- 人工智能的人工智能
背景情况:
- 自动驾驶系统在很大程度上依赖于准确的环境感知.
- 合作感知,整合车辆和基础设施数据,提供了增强的情境意识.
- 现有的方法在合作感知中扎着沟通延迟和空间错位.
研究的目的:
- 引入CoFormerNet,这是一个新的框架,用于强大的车辆基础设施合作感知.
- 为了应对像通信延迟和空间错位在融合传感器数据等挑战.
- 为了提高3D物体检测在自动驾驶中的性能.
主要方法:
- 对于车辆和基础设施感知分支,CoFormerNet使用了一个一致的结构.
- 它集成了一个时间聚合模块,用于处理时间变化的数据.
- 空间调节的交叉注意力融合了两个不同的阶段的中间特征.
主要成果:
- 与现有方法相比,CoFormerNet在DAIR-V2X和V2XSet数据集上表现出更高的性能.
- 该框架在3D物体检测方面取得了最先进的结果.
- 拟议的融合战略有效地缓解了通信延迟和空间错位的问题.
结论:
- 在车辆基础设施合作感知方面,CoFormerNet提供了显著的进步.
- 该框架的设计有效地应对数据融合中的现实世界挑战.
- CoFormerNet为更可靠,更安全的自动驾驶系统铺平了道路.
更多相关视频
06:20Author Spotlight: Development of an Automated Camera-Based System for Real-Time Blast Overpressure Monitoring and TBI Risk Assessment in Military Training
Published on: December 6, 2024
2.7K
03:31Author Spotlight: Enhancement of Salient Object Detection for Smart Grid Applications
Published on: December 15, 2023
515
相关概念视频
Transformers in Distribution System
100
Transformers in distribution systems can be broadly categorized into distribution substation transformers and other distribution transformers. They are crucial for stepping down high transmission voltages to levels suitable for distribution and end-user applications.
Distribution substation transformers come in various ratings and typically use mineral oil for insulation and cooling. To prevent moisture and air from entering the oil, some transformers use an inert gas like nitrogen to fill the...
Distribution substation transformers come in various ratings and typically use mineral oil for insulation and cooling. To prevent moisture and air from entering the oil, some transformers use an inert gas like nitrogen to fill the...
100
Transformers with Off-Nominal Turns Ratios
149
In scenarios involving parallel transformers with disparate ratings, developing per-unit models requires accommodating off-nominal turns ratios. This situation arises when the selected base voltages are not proportional to the transformer’s voltage ratings. Consider a transformer where the rated voltages are related by the term a. If the chosen voltage bases satisfy a relationship involving term b, term c is defined as the ratio of these bases. This ratio is then substituted into the...
149
The Ideal Transformer
374
In single-phase two-winding transformers, two windings are coiled around a magnetic core characterized by cross-sectional area A and magnetic permeability μ. A phasor current i1 enters the left winding while i2 exits the right winding, establishing the fundamental working of the transformer through electromagnetic principles.
Ampere's Law forms the basis of understanding the magnetic field within the transformer. It states that the integral of the magnetic field intensity's...
Ampere's Law forms the basis of understanding the magnetic field within the transformer. It states that the integral of the magnetic field intensity's...
374
Types Of Transformers
965
Transformers can provide desired voltages to a circuit by modifying the number of turns in the secondary windings.
If the ratio of the number of turns in the secondary winding to that of the primary winding is greater than one, then the transformer is said to be a step-up transformer. In a step-up transformer, the voltage at the secondary winding is greater than the voltage applied at the primary winding.
However, if this ratio is less than one, the transformer is said to be a step-down...
If the ratio of the number of turns in the secondary winding to that of the primary winding is greater than one, then the transformer is said to be a step-up transformer. In a step-up transformer, the voltage at the secondary winding is greater than the voltage applied at the primary winding.
However, if this ratio is less than one, the transformer is said to be a step-down...
965
Instrument Transformers
83
Instrument transformers, comprising voltage transformers (VTs) and current transformers (CTs), play crucial roles in power substations by providing isolated replicas of current or voltage for measurement and protection purposes. Voltage transformers reduce the primary voltage to levels suitable for relay operation and measurement, while current transformers scale down the primary current. The primary winding of a current transformer often consists of a single turn, achieved by threading the...
83
Equivalent Circuits for Practical Transformers
410
The practical equivalent circuits of single-phase two-winding transformers exhibit significant deviations from their idealized versions due to the inherent properties of winding resistance and finite core permeability. These properties result in real and reactive power losses, affecting the transformer's performance. Understanding these deviations is crucial for designing more efficient transformers.
In a practical transformer, each winding exhibits resistance and leakage reactance. The...
In a practical transformer, each winding exhibits resistance and leakage reactance. The...
410
