Offline Extrinsic-Calibration-Free Cone-Based ROI Filtering for Lightweight Distributed Multi-Sensor Fusion on Edge Systems

Abstract

We propose a lightweight cone-based Region of Interest (ROI) filtering method for camera–LiDAR fusion on distributed edge systems. Multiple Neural Processing Unit (NPU) nodes perform camera inference, and a central edge board combines their detections with LiDAR point clouds. The relative rotation is obtained from IMU quaternions under a common attitude reference and aligned sensor axes, while camera Field of View (FOV) parameters define the viewing rays. The method avoids a separate offline extrinsic-rotation estimation procedure, but it requires initial alignment, a measured translation vector, and timestamp-based synchronization. Because the rotation follows from the attitude streams rather than from a per-pair calibration session, a camera node can be added or re-aimed without a new calibration session, which lowers the setup cost of extending the system to further viewpoints. A cone membership test replaces four plane-normal dot products with a forward sign test and a squared angular cosine comparison that reuse the same axis–point dot product; on the same hardware, the mean per-camera ROI-filtering and clustering latency decreases from 6.02 to 4.46 ms, a 25.9% reduction. An adaptive threshold tightens the ROI boundary using the angular separation between neighboring detections. Across six overlap events in a parking scenario, pair-level separation succeeds in 2/6 cases (33.3%) with Pyramid and 5/6 cases (83.3%) with Cone+Adp. These preliminary results indicate improved ROI point selection for the tested configurations, rather than a general increase in intrinsic spatial separation capability.