YOLOMM – You Only Look Once for Multi-modal Multi-tasking

Autonomous driving can reduce the number of road accidents due to human error and result in safer roads. One important part of the system is the perception unit, which provides information about the environment surrounding the car. Currently, most manufacturers are using not only RGB cameras, which are passive sensors that capture light already in the environment but also Lidar. This sensor actively emits laser pulses to a surface or object and measures reflection and time-of-flight. Previous work, YOLOP, already proposed a model for object detection and semantic segmentation, but only using RGB. This work extends it for Lidar and evaluates performance on KITTI, a public autonomous driving dataset. The implementation shows improved precision across all objects of different sizes. The implementation is entirely made available: https://github.com/filipepcampos/yolomm .