Deep Learning-Based Multi-Modal Fusion for Robust Robot Perception and Navigation

摘要

This paper introduces a novel deep learning-based multimodal fusion architecture aimed at enhancing the perception capabilities of autonomous navigation robots in complex environments. By utilizing innovative feature extraction modules, adaptive fusion strategies, and time-series modeling mechanisms, the system effectively integrates RGB images and LiDAR data. The key contributions of this work are as follows: a. the design of a lightweight feature extraction network to enhance feature representation; b. the development of an adaptive weighted crossmodal fusion strategy to improve system robustness; and <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$\mathbf{c}$</tex>. the incorporation of time-series information modeling to boost dynamic scene perception accuracy. Experimental results on the KITTI dataset demonstrate that the proposed approach increases navigation and positioning accuracy by 3.5 % and 2.2 %, respectively, while maintaining real-time performance. This work provides a novel solution for autonomous robot navigation in complex environments.