InterFuser: Safety-Enhanced Autonomous Driving Using Interpretable Sensor Fusion Transformer

Hao Shao, Letian Wang, RuoBing Chen, Hongsheng Li, Yu Liu
arXiV 2207.14024

This repository contains code for the paper Safety-Enhanced Autonomous Driving Using Interpretable Sensor Fusion Transformer. We will release the code soon.

This work fully processes and fuses information from multi-modal multi-view sensors for achieving comprehensive scene understanding. Besides, intermediate interpretable features are generated from our framework, which provides more semantics and is exploited to better constrain actions to be within the safe sets. Our method achieved new state-of-the-art on CARLA AD Leaderboard by June 11 2022.

Demo Video

Citation

If you find our repo, dataset or paper useful, please cite us as

@article{shao2022interfuser,
 title={Safety-Enhanced Autonomous Driving Using Interpretable Sensor Fusion Transformer},
 author={Hao Shao and Letian Wang and RuoBing Chen and Hongsheng Li and Yu Liu},
 journal={arXiv preprint arXiv:2207.14024},
 year={2022},
}

License

All code within this repository is under Apache License 2.0.