An Adaptive Multimodal Fusion 3D Object Detection Algorithm for Unmanned Systems in Adverse Weather.

Unmanned systems encounter challenging weather conditions during obstacle removal tasks. Researching stable, real-time, and accurate environmental perception methods under such conditions is crucial. Cameras and LiDAR sensors provide different and complementary data. However, the integration of disparate data presents challenges such as feature mismatches and the fusion of sparse and dense information, which can degrade algorithmic performance. Adverse weather conditions, like rain and snow, introduce noise that further reduces perception accuracy. To address these issues, we propose a novel weather-adaptive bird's-eye view multi-level co-attention fusion 3D object detection algorithm (BEV-MCAF). This algorithm employs an improved feature extraction network to obtain more effective features. A multimodal feature fusion module has been constructed with BEV image feature generation and a co-attention mechanism for better fusion effects. A multi-scale multimodal joint domain adversarial network (M2-DANet) is proposed to enhance adaptability to adverse weather conditions. The efficacy of BEV-MCAF has been validated on both the nuScenes and Ithaca365 datasets, confirming its robustness and good generalization capability in a variety of bad weather conditions. The findings indicate that our proposed algorithm performs better than the benchmark, showing improved adaptability to harsh weather conditions and enhancing the robustness of UVs, ensuring reliable perception under challenging conditions. [ABSTRACT FROM AUTHOR]