Acta Photonica Sinica, Volume. 53, Issue 1, 0111002(2024)
BEV Space 3D Object Detection Algorithm Based on Fusion of Infrared Camera and LiDAR
Figures & Tables(16)
Table 1. Ablation experiment of camera branch
View tableView in ArticleTable 1. Ablation experiment of camera branch
DSV CPP BEV mAP/% 3D mAP/% AOS/% 26.69 23.44 46.74 √ 30.27 25.16 57.92 √ √ 31.89 25.95 59.31
Table 2. Ablation experiment of fusion branch
View tableView in ArticleTable 2. Ablation experiment of fusion branch
GAF BEV mAP/% 3D mAP/% AOS/% 76.72 66.95 69.30 √ 77.14 68.08 70.19
Table 3. Performance comparison of different voxelization method in lidar branches
View tableView in ArticleTable 3. Performance comparison of different voxelization method in lidar branches
V method BEV AP/% 3D AP/% AOS/% Car pedestrian cyclist Car pedestrian cyclist Car pedestrian cyclist SV 89.91 77.29 80.31 87.76 77.09 80.23 85.57 57.14 76.97 DV 90.20 78.19 80.15 88.67 78.13 80.09 85.48 58.83 77.41
Table 4. Performance comparison of camera branch，lidar branch and fusion branch
View tableView in ArticleTable 4. Performance comparison of camera branch，lidar branch and fusion branch
Modality DSV CPP DV GAF BEV AP/% 3D AP/% AOS/% Car pedestrian cyclist Car pedestrian cyclist Car pedestrian cyclist Camera √ √ 64.67 31.55 57.19 58.46 29.71 55.66 66.45 44.69 66.80 Lidar √ 90.20 78.19 80.15 88.67 78.13 80.09 85.48 58.83 77.41 Lidar & camera √ √ √ √ 91.25 77.32 84.06 90.84 77.15 82.88 85.80 60.19 80.46
Table 5. Performance comparison of our model with other SOTA model
View tableView in ArticleTable 5. Performance comparison of our model with other SOTA model
Method Modality BEV AP/% 3D AP/% AOS/% Car pedestrian cyclist Car pedestrian cyclist Car pedestrian cyclist PointPillars［ 17 ］Lidar 81.72 68.36 78.46 81.65 68.35 78.42 79.66 51.93 75.31 CenterPoint［ 18 ］Lidar 90.20 78.19 80.15 88.67 78.13 80.09 85.48 58.83 77.41 MVXNet［ 24 ］Lidar & camera 89.19 76.16 73.16 89.01 76.13 71.71 82.91 49.05 61.03 Ours Lidar & camera 91.25 77.32 84.06 90.84 77.15 82.88 85.80 60.19 80.46
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Wuyue WANG, Zhaofei XU, Chunyan QU, Ying LIN, Yufeng CHEN, Jian LIAO. BEV Space 3D Object Detection Algorithm Based on Fusion of Infrared Camera and LiDAR[J]. Acta Photonica Sinica, 2024, 53(1): 0111002
Paper Information
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Received: Jul. 10, 2023
Accepted: Sep. 18, 2023
Published Online: Feb. 1, 2024
The Author Email: Wuyue WANG (wangwuyue@hrbeu.edu.cn)
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