EcoFusion: Energy-Aware Adaptive Sensor Fusion for Efficient Autonomous Vehicle Perception

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Abstract

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.

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Malawade, A. V., Mortlock, T., & Faruque, M. A. A. (2022). EcoFusion: Energy-Aware Adaptive Sensor Fusion for Efficient Autonomous Vehicle Perception. In Proceedings - Design Automation Conference (pp. 481–486). Institute of Electrical and Electronics Engineers Inc. https://doi.org/10.1145/3489517.3530489

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