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.
@article{arxiv.2202.11330,
title = {EcoFusion: Energy-Aware Adaptive Sensor Fusion for Efficient Autonomous Vehicle Perception},
author = {Arnav Vaibhav Malawade and Trier Mortlock and Mohammad Abdullah Al Faruque},
journal= {arXiv preprint arXiv:2202.11330},
year = {2023}
}
Comments
Accepted to be published in the 59th ACM/IEEE Design Automation Conference (DAC 2022)