安徽工程大学学报2025，Vol.40Issue(1)：31-37,7.
改进PointPillars的三维点云检测研究
Research on Improving PointPillars 3D Point Cloud Detection
摘要
Abstract
In response to the current issues of missed and false detections in 3D point clouds,this paper proposes a vehicle detection method based on improved PointPillars.On the basis of the original model,attention mechanism is introduced,activation function is improved,and KITTI dataset is retrained.The results of the ablation experiment showed that the improved algorithm model increased the Map value by 2%compared to the original algorithm model.The visualization results of point cloud detection at different frames showed that the improved PointPillars model enhanced the ability of point cloud detection.The improved model can be applied in the field of intelligent vehicle or robot environment perception in the future.关键词
PointPillars/点云检测/BEV伪图像/注意力机制Key words
PointPillars/point cloud detection/BEV pseudo image/attention mechanism分类
计算机与自动化引用本文复制引用
阜远远,王嘉鑫,王建平,张太盛,周晋伟,方祥建..改进PointPillars的三维点云检测研究[J].安徽工程大学学报,2025,40(1):31-37,7.基金项目
芜湖市科技计划重点研发项目(2020yf53) （2020yf53）
安徽省科技重大专项(202103a05020033) （202103a05020033）
