{"id":"https://openalex.org/W4404739757","doi":"https://doi.org/10.1109/icbase63199.2024.10762449","title":"M2FU: Multi-Modal Fusion for Urban Autonomous Driving","display_name":"M2FU: Multi-Modal Fusion for Urban Autonomous Driving","publication_year":2024,"publication_date":"2024-09-20","ids":{"openalex":"https://openalex.org/W4404739757","doi":"https://doi.org/10.1109/icbase63199.2024.10762449"},"language":"en","primary_location":{"id":"doi:10.1109/icbase63199.2024.10762449","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icbase63199.2024.10762449","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 5th International Conference on Big Data & Artificial Intelligence & Software Engineering (ICBASE)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Daiqi You","orcid":null},"institutions":[{"id":"https://openalex.org/I187400657","display_name":"South China Normal University","ror":"https://ror.org/01kq0pv72","country_code":"CN","type":"education","lineage":["https://openalex.org/I187400657"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Daiqi You","raw_affiliation_strings":["South China Normal University,School of Computer,Guangzhou,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"South China Normal University,School of Computer,Guangzhou,China","institution_ids":["https://openalex.org/I187400657"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038053678","display_name":"Gang Feng","orcid":"https://orcid.org/0000-0002-0572-8442"},"institutions":[{"id":"https://openalex.org/I187400657","display_name":"South China Normal University","ror":"https://ror.org/01kq0pv72","country_code":"CN","type":"education","lineage":["https://openalex.org/I187400657"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gang Feng","raw_affiliation_strings":["South China Normal University,School of Computer,Guangzhou,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"South China Normal University,School of Computer,Guangzhou,China","institution_ids":["https://openalex.org/I187400657"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I187400657"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"68","last_page":"72"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9873999953269958,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9873999953269958,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11942","display_name":"Transportation and Mobility Innovations","score":0.955299973487854,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9118000268936157,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.690128743648529},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.6556168794631958},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5451542139053345},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5103148818016052},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.33744296431541443},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16411611437797546},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.12423932552337646}],"concepts":[{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.690128743648529},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.6556168794631958},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5451542139053345},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5103148818016052},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.33744296431541443},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16411611437797546},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.12423932552337646},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icbase63199.2024.10762449","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icbase63199.2024.10762449","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 5th International Conference on Big Data & Artificial Intelligence & Software Engineering (ICBASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7799999713897705,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W2108598243","https://openalex.org/W2194775991","https://openalex.org/W3035461736","https://openalex.org/W3117804044","https://openalex.org/W3138516171","https://openalex.org/W3198460218","https://openalex.org/W4288804588","https://openalex.org/W4312862130","https://openalex.org/W4376166839","https://openalex.org/W4386918877","https://openalex.org/W6739901393","https://openalex.org/W6745935785","https://openalex.org/W6809665764"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2132659060","https://openalex.org/W2031992971","https://openalex.org/W3214791684","https://openalex.org/W2353265673","https://openalex.org/W2152662039"],"abstract_inverted_index":{"Existing":[0],"sensor":[1],"fusion":[2,62],"approaches":[3],"are":[4,30,34],"poor,":[5],"this":[6],"paper":[7],"proposes":[8],"a":[9,55,64],"novel":[10],"end-to-end":[11,24,112],"autonomous":[12,104],"driving":[13,105,147,150],"model":[14,18,52,90,113],"called":[15],"M2FU.":[16],"This":[17],"solves":[19],"the":[20,45,49,83,102,111,116,130,144],"problem":[21],"of":[22,44,132],"past":[23],"models":[25,123],"that":[26,110],"have":[27],"many":[28],"collisions,":[29],"heavily":[31],"blocked,":[32],"and":[33,63,86,98],"unable":[35],"to":[36,156],"effectively":[37],"detect":[38],"traffic":[39],"lights.":[40],"The":[41,89,107],"perception":[42],"module":[43],"M2FU":[46],"improves":[47],"on":[48,101,115],"transformer-based":[50],"detection":[51],"by":[53,153],"using":[54,93],"dual-attention":[56],"mechanism":[57],"for":[58,72,81],"its":[59],"intermediate":[60],"feature":[61],"recurrent":[65,70],"neural":[66],"network":[67],"with":[68,140],"gated":[69],"units":[71],"path":[73],"planning.":[74],"In":[75],"addition,":[76],"it":[77],"includes":[78],"two":[79],"controllers":[80],"managing":[82],"vehicle\u2019s":[84],"speed":[85],"steering":[87],"angle.":[88],"was":[91],"trained":[92],"an":[94],"imitation":[95],"learning":[96],"approach":[97],"subsequently":[99],"evaluated":[100],"CARLA":[103,145],"benchmark.":[106],"results":[108],"demonstrate":[109],"based":[114],"dual":[117],"attention":[118],"transformer":[119],"outperforms":[120],"traditional":[121],"classifier-based":[122],"in":[124,137],"avoiding":[125],"dynamic":[126],"obstacles.":[127],"We":[128],"validate":[129],"effectiveness":[131],"our":[133],"method":[134],"through":[135],"experiments":[136],"urban":[138,146],"environments":[139],"complex":[141],"scenes,":[142],"utilizing":[143],"simulator.":[148],"Our":[149],"scores":[151],"improved":[152],"17%":[154],"compared":[155],"geometry-based":[157],"fusion.":[158]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}