论文标题
Ecofusion：能源感知的自适应传感器融合，用于有效的自动驾驶汽车知觉
EcoFusion: Energy-Aware Adaptive Sensor Fusion for Efficient Autonomous Vehicle Perception
论文作者
论文摘要
储层计算是预测湍流的有力工具，其简单的架构具有处理大型系统的计算效率。然而，其实现通常需要完整的状态向量测量和系统非线性知识。我们使用非线性投影函数将系统测量扩展到高维空间，然后将其输入到储层中以获得预测。我们展示了这种储层计算网络在时空混沌系统上的应用，该系统模拟了湍流的若干特征。我们表明，使用径向基函数作为非线性投影器，即使只有部分观测并且不知道控制方程，也能稳健地捕捉复杂的系统非线性。最后，我们表明，当测量稀疏、不完整且带有噪声，甚至控制方程变得不准确时，我们的网络仍然可以产生相当准确的预测，从而为实际湍流系统的无模型预测铺平了道路。
Autonomous vehicles use multiple sensors, large deep-learning models, and powerful hardware platforms to perceive the environment and navigate safely. In many contexts, some sensing modalities negatively impact perception while increasing energy consumption. We propose EcoFusion: an energy-aware sensor fusion approach that uses context to adapt the fusion method and reduce energy consumption without affecting perception performance. EcoFusion performs up to 9.5% better at object detection than existing fusion methods with approximately 60% less energy and 58% lower latency on the industry-standard Nvidia Drive PX2 hardware platform. We also propose several context-identification strategies, implement a joint optimization between energy and performance, and present scenario-specific results.
