电子学报2024，Vol.52Issue(5)：1700-1715,16.DOI:10.12263/DZXB.20221141
LiDar点云指导下特征分布趋同与语义关联的3D目标检测
3D Object Detection Based on Feature Distribution Convergence Guided by LiDar Point Cloud and Semantic Association
摘要
Abstract
In view of the accuracy of existing 3D object detection algorithms based on Pseudo-LiDar is far lower than that based on real LiDAR(Light Detection and ranging),this paper studies the reconstruction of Pseudo-LiDar and proposes a 3D object detection algorithm suitable for Pseudo-LiDar.Considering that the Pseudo-LiDAR obtained by image depth is dense and gradually sparse along the increase of depth,a depth related Pseudo-LiDAR sparsification method is proposed to reduce the subsequent calculation amount while retaining more useful Pseudo-LiDAR in the middle and long distance,so as to realize the reconstruction of Pseudo-LiDAR.Furthermore,a 3D object detection algorithm based on object feature distri-bution convergence under the guidance of LiDar point cloud and semantic association is proposed.During network train-ing,a laser point cloud branch is introduced to guide the generation of Pseudo-LiDAR object features,so that the generated Pseudo-LiDar object feature distribution converges to the feature distribution of laser point cloud object,thereby correcting the detection error caused by the difference between the two data sources.Aiming at the insufficient semantic association between Pseudo-LiDar in the 3D candidate bounding-box obtained by RPN(Region Proposal Network)network,an atten-tion perception module is designed to embed the semantic association between points through the attention mechanism in the feature representation of Pseudo-LiDar,so as to improve the accuracy of 3D object detection.The experimental results on KITTI 3D object detection dataset show when the existing 3D object detection network adopts the reconstructed Pseudo-LiDar,the detection accuracy is improved by 2.61%.Furthermore,the proposed 3D object detection network with the fea-ture distribution convergence and semantic association improves the accuracy by 0.57%.Compared with other excellent methods,it also improves the detection accuracy.关键词
3D目标检测/伪点云/语义关联/分布趋同/注意力感知Key words
3D object detection/Pseudo-LiDar/semantic association/distribution convergence/attention perception分类
信息技术与安全科学引用本文复制引用
郑锦,蒋博韬,彭微,王森..LiDar点云指导下特征分布趋同与语义关联的3D目标检测[J].电子学报,2024,52(5):1700-1715,16.基金项目
国家自然科学基金(No.61876014) National Natural Science Foundation of China(No.61876014) （No.61876014）
