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arXiv · 2302.09998

Gesture Recognition with Keypoint and Radar Stream Fusion for Automated Vehicles

Adrian Holzbock·Nicolai Kern·Christian Waldschmidt·Klaus Dietmayer·Vasileios Belagiannis
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Abstract

We present a joint camera and radar approach to enable autonomous vehicles to understand and react to human gestures in everyday traffic. Initially, we process the radar data with a PointNet followed by a spatio-temporal multilayer perceptron (stMLP). Independently, the human body pose is extracted from the camera frame and processed with a separate stMLP network. We propose a fusion neural network for both modalities, including an auxiliary loss for each modality. In our experiments with a collected dataset, we show the advantages of gesture recognition with two modalities. Motivated by adverse weather conditions, we also demonstrate promising performance when one of the sensors lacks functionality.

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Adrian Holzbock, Nicolai Kern, Christian Waldschmidt, Klaus Dietmayer, Vasileios Belagiannis. 2023-02-20. Gesture Recognition with Keypoint and Radar Stream Fusion for Automated Vehicles. https://doi.org/10.1007/978-3-031-25056-9_36

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