基于风格迁移的恶劣天气车路协同检测后融合方法研究
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作者单位:

1.天津理工大学;2.经纬恒润(天津)研究开发有限公司

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中图分类号:

TP391.4

基金项目:

国家自然科学基金项目(62172294, 52172350),天津市自然科学基金项目(23JCYBJC00440, 24YDTPJC00400)


Research on a Late-Fusion Detection Method for Vehicle-Infrastructure Collaboration under Adverse Weather Based on Style Transfer
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Affiliation:

1.Tianjin University of Technology;2.Jingwei Hirain Technology Co., Ltd

Fund Project:

National Natural Science Foundation of China(62172294, 52172350),Natural Science Foundation of Tianjin(23JCYBJC00440, 24YDTPJC00400)

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    摘要:

    车路协同纯视觉感知在智能交通领域前景广阔。但在雨雪雾等恶劣天气条件下感知精度显著下降,主要受限于恶劣天气数据匮乏及后融合策略适应性不足。为此,本文提出一种融合基于风格迁移的数据增强方法与增强型后融合策略的协同检测框架。首先生成风格化图像,并通过重新注入浅层结构特征与建模多通道风格关联性提升迁移效果,以缓解数据稀缺问题。推理阶段引入基于上下文的自适应融合机制,根据时间稳定性、空间关联性及场景复杂度动态调整检测结果权重。实验表明,在恶劣天气场景下,该方法较基线模型提升了超过40%的相对检测精度,同时在正常环境下保持与现有方法相当的性能。该框架提升了复杂场景下车路协同感知的稳定性和鲁棒性,为智能交通协同感知提供参考。源代码:https://github.com/kkk261/V2X-ELF。

    Abstract:

    Vehicle-infrastructure cooperative pure visual perception holds significant promise for intelligent transportation systems. However, perception accuracy degrades significantly under adverse weather conditions, such as rain, snow, and fog, primarily due to the scarcity of adverse weather data and the limited adaptability of late-fusion strategies. To address these challenges, this paper proposes a cooperative detection framework that integrates style-transfer-based data augmentation with an enhanced late fusion strategy. Specifically, stylized images are first generated. The effectiveness of style transfer is further enhanced by reinjecting shallow structural features and modeling multi-channel style correlations. During inference, a context-aware adaptive fusion mechanism is introduced to dynamically adjust the weights of detection results based on temporal stability, spatial correlation, and scene complexity. Experimental results show that, under adverse weather conditions, the proposed method achieves more than a 40% relative improvement in detection accuracy over the baseline model, while maintaining performance comparable to existing methods under normal conditions. The proposed framework improves the stability and robustness of vehicle-infrastructure cooperative perception in complex scenarios, providing valuable insights for cooperative perception in intelligent transportation systems. Source code is available at: https://github.com/kkk261/V2X-ELF.

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  • 收稿日期:2025-11-18
  • 最后修改日期:2026-01-20
  • 录用日期:2026-02-07
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