Adaptive Visual-Aided 4D Radar Odometry through Transformer-Based Feature Fusion

Multimodal sensor fusion has been successfully utilized in many odometry and localization methods as it increases both estimate accuracy and robustness in application scenarios. To address the challenge of odometry under varying- weather conditions, we propose a novel visual 4D radar fusion based odometry in an unsupervised deep learning approach. In our method, we adopt transformer-based cascaded decoders to facilitate efficient feature extraction of images and radar point clouds. Considering that radars are weather-agnostic and information-rich cameras are susceptible to adverse weathers, we deliberately introduce an adaptive attention-based feature fusion mechanism, in which the attention shifts dynamically to adapt to changing weather conditions based on the amount of information content in image features. Through extensive comparative experiments, our method surpasses different state- of-the-art single-modal odometry estimation methods. Our code and trained model will be released publicly.