火力与指挥控制2024，Vol.49Issue(6)：122-127,134,7.DOI:10.3969/j.issn.1002-0640.2024.06.017
融合点云增强的多传感器三维目标检测方法
Multi-sensor 3D Target Detection Method with Fusion of Point Cloud Enhancement
摘要
Abstract
Three dimensional object detection is an indispensable function module in automatic driving environment perception.The rich image texture information of camera sensor can make up for the sparse problem of laser radar point cloud.A plug and play RI Fusion module is proposed to achieve the effective fusion of lidar and camera.The point cloud is converted into a compact range view representation through spherical coordinate transformation,the distance images are integrated with the corresponding camera images based on the attention mechanism,the original distance images are connected with the fusion features to retain the information of the point cloud,and the fusion results are projected into the spatial point cloud.The point cloud after feature enhancement can be input into the 3D target detector based on lidar.The experiments are carried out on KITTI 3D target detection benchmark,the results show that the proposed fusion method can significantly enhance multiple 3D target detectors based on lidar,and can achieve higher detection accuracy for small targets such as pedestrians and cyclists,etc.关键词
三维目标检测/多传感器/融合/点云Key words
3D object detection/multi sensor/fusion/point cloud分类
信息技术与安全科学引用本文复制引用
王昕灿,郭志阳,赫钰涛,张迁..融合点云增强的多传感器三维目标检测方法[J].火力与指挥控制,2024,49(6):122-127,134,7.基金项目
国家自然科学青年基金(62206114) （62206114）
江苏省高校自然科学面上项目(22KJB580003) （22KJB580003）
江苏省高校青蓝工程基金 （）
南通市社会民生科技计划基金资助项目(MS2023017) （MS2023017）
