激光雷达感知与自动驾驶多模态3D目标检测技术专题

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主题词：自动驾驶 目标检测 激光雷达 相机 数据融合中图分类号：TP391.41 文献标志码：A DOI： 10.19620/j.cnki.1000-3703.20250225

Research Progress on Object Detection Technology with LiDAR and Camera Fusion in Autonomous Driving

PangYajun1²，Zhang Jiwen1²，Ning Yifan1，2 （1.CollegeofElectronicalandInformation Enginering，Hebei UniversityofTechnology，Tianjin30o40l;2.HebeiKey Laboratory of Advanced Laser Technologyand Equipment，Hebei Universityof Technology，Tianjin 300401）

【Abstract】Facing the technicalbottlenecks inensuring thesafetyand reliabilityof environmental perception in autonomous driving，this paper systematicallyreviews the technological roadmapandrecent developmentsofLiDAR-camera fusion-basedobject detection.Byanalyzingthelimitations of single-sensorperception under complexroadconditions，the studydemonstratestheinevitabilityof multimodal sensorfusion.Thefindingsindicate thatsensor fusioncan significantly improveobjectdtectionperformanceinsenariosinvolvingocclusion，longdistances，andcomplexenvironments.Experiments onpublic datasetssuch asnuScenes andKITTIfurtherverifythatsensorfusion efectively enhances perceptionrobustnesand detectionaccuracyindiversescenes.However，currenttechnologiesstill facechallngessuchas insufficientreal-time performance，highalgorithmiccomplexityandcostconstraints.Futureresearchshouldfocusonimprovingtheprecisionand efficiency of fusion algorithms and promoting the standardization of multimodal collaborative perception.

KeyWords：AutonomousDriving，ObjectDetection，LiDAR，Camera，Data Fusion

【引用格式】庞亚军，张继文，宁一凡.自动驾驶中LiDAR与相机融合的目标检测技术研究进展[J].汽车技术，2026（2）：18-31.PANG YJ，ZHANGJW，NING YF.Research Progress on Object Detection Technology with LiDAR and Camera Fusion inAutonomous Driving[J].Automobile Technology，2026（2）：18-31.

1前言

随着自动驾驶技术的快速发展，目标检测已成为检验自动驾驶技术落地的决定性因素之一，不仅要求算法具备强大的特征提取与模式识别能力，还需兼顾实时性与鲁棒性，以适应不同光照条件、天气状况及复杂交通环境的挑战。（剩余28513字）