无线电通信技术2024，Vol.50Issue(4)：823-830,8.DOI:10.3969/j.issn.1003-3114.2024.04.026
基于Tv-SECOND的自动驾驶场景下的3D目标检测
3D Object Detection in Autonomous Driving Scenarios Based on Tv-SECOND
摘要
Abstract
In response to the issue of 3D object detection tasks in complex environments of autonomous driving scenarios,particu-larly under long-distance and occlusion conditions,a two-stage Tv-SECOND algorithm is proposed based on SECOND to enhance detec-tion accuracy.This algorithm introduces a proposal feature extraction module with a Transformer architecture,and additionally,proposes a deformable voxel feature encoding module based on traditional voxel feature encoding.Tested on the KITTI dataset,results show that compared to SECOND,our proposed algorithm improves the detection performance by 7.49％and 9.72％respectively in long-distance and severe occlusion situations.Moreover,it exhibits varying degrees of improvement in detection accuracy compared to other advanced two-stage methods,demonstrating the effectiveness of the Tv-SECOND algorithm.This new algorithm can establish dependencies among features,aggregate wide-ranging contextual information from surrounding areas,and enhance learning and inference capabilities.It effec-tively improves the detection performance of the model in long-distance and occluded scenarios.关键词
自动驾驶/3D目标检测/Transformer/SECONDKey words
autonomous driving/3D object detection/Transformer/SECOND分类
信息技术与安全科学引用本文复制引用
魏海跃,杨奎河,毕江峰..基于Tv-SECOND的自动驾驶场景下的3D目标检测[J].无线电通信技术,2024,50(4):823-830,8.基金项目
河北省自然科学基金(F2013208105)Hebei Provincial Natural Science Foundation of China(F2013208105) （F2013208105）
