Opto-Electronic Engineering, Volume. 51, Issue 3, 230317-1(2024)
Image-guided and point cloud space-constrained method for detection and localization of abandoned objects on the road
Figures & Tables(17)
Fig. 5. Generation of ROI areas in the LiDAR coordinate system based on image object detection bounding boxes
Fig. 7. Filtering results. (a) Original point cloud data; (b) Effective point cloud data obtained by field-of-view matching; (c) Non-ground point cloud after CSF filtering; (d) Ground point cloud after CSF filtering
Fig. 8. The specific meanings of various evaluation metrics in space
Fig. 9. Detection and localization results for abandoned objects on the road (Scene one, selected partial area). (a) Image of the scene to be tested; (b) Detection and localization results by method A; (c) Detection and localization results by our method
Fig. 10. Detection and localization results for abandoned objects on the road (Scene two, selected partial area). (a) Image of the scene to be tested; (b) Detection and localization results by method A; (c) Detection and localization results by our method
Fig. 11. Experimental results for detecting and locating abandoned objects on the road. (a) Scene one; (b) Scene two
Table 1. Ablation experiments on the WOD dataset
View tableView in ArticleTable 1. Ablation experiments on the WOD dataset
YOLOv7 SOD Layer SDK Attention AP/% AP/% mAP0.5 /% mAP0.5:0.95 /% Small Medium Large Small Medium Large √ 10.00 35.80 70.40 23.20 47.20 75.60 57.15 32.30 √ √ 11.90 38.90 66.90 26.00 49.70 73.10 59.28 34.18 √ √ 11.20 37.60 66.80 24.30 48.70 73.00 58.12 33.21 √ √ √ 12.00 39.00 67.70 26.20 50.80 73.20 59.46 34.33
Table 2. Ablation experiments on custom dataset
View tableView in ArticleTable 2. Ablation experiments on custom dataset
YOLOv7 SOD Layer SDK Attention AP/% AP/% mAP0.5 /% mAP0.5:0.95 /% Small Medium Large Small Medium Large √ 52.00 74.00 85.30 61.50 78.80 89.00 94.20 64.80 √ √ 55.00 79.80 92.70 65.40 84.00 95.50 94.30 69.80 √ √ 54.10 81.50 93.40 63.20 85.30 95.10 93.80 70.00 √ √ √ 57.30 82.00 92.00 66.80 85.40 93.90 95.30 71.90
Table 3. Additional evaluation metrics for different network models
View tableView in ArticleTable 3. Additional evaluation metrics for different network models
YOLOv7 SOD Layer SDK Attention Params/MB GFLOPs FPS √ 71.3 103.3 82.2 √ √ 51.4 108.2 73.2 √ √ 73.7 118.3 75.4 √ √ √ 52 123.3 65.8
Table 4. Comparative experiments of YOLOv7-OD with other object detection algorithms
View tableView in ArticleTable 4. Comparative experiments of YOLOv7-OD with other object detection algorithms
Model Params /MB AP/% AP/% mAP0.5 /% mAP0.5:0.95 /% Small Medium Large Small Medium Large Faster-RCNN[ 2 ]79.0 3.70% 19.0% 41.7% 9.00% 26.2% 46.6% 29.7% 15.6% RetinaNet[ 7 ]61.7 3.00% 29.8% 64.7% 10.6% 40.4% 71.4% 43.9% 24.7% YOLOX[ 22 ]104 7.40% 31.3% 68.1% 13.9% 39.2% 72.8% 48.1% 28.0% DETR[ 3 ]79.0 4.83% 26.4% 62.2% 11.3% 35.7% 68.7% 45.4% 24.0% YOLOv3[ 5 ]119 3.00% 26.2% 64.1% 5.80% 35.0% 69.8% 41.9% 22.9% YOLOv5 [ 23 ]88.5 6.60% 31.4% 64.1% 13.3% 45.5% 71.1% 48.6% 27.2% YOLOv6[ 6 ]72.4 7.50% 37.5% 71.7% 16.7% 46.4% 78.0% 51.9% 31.0% YOLOv7[ 18 ]71.3 10.0% 35.8% 70.4% 23.2% 47.2% 75.6% 57.2% 32.3% YOLOv8[ 24 ]83.6 8.30% 38.9% 71.3% 17.7% 46.7% 76.5% 53.0% 32.0% YOLOv7-OD 52.1 12.0% 39.0% 67.7% 26.2% 50.8% 73.2% 59.5% 34.3%
Table 5. Experimental results of two point cloud localization methods
View tableView in ArticleTable 5. Experimental results of two point cloud localization methods
Method N (road objects) N (abandoned object) N (predicted) N (true) N (false) Precision/% Recall/% Method A 920 270 150 147 3 98.00 55.56 Ours 920 270 258 250 8 96.90 95.56
Table 6. Error in abandoned objects localization using point cloud generation method at different distances
View tableView in ArticleTable 6. Error in abandoned objects localization using point cloud generation method at different distances
Distance/m MAE-error ΔD/m ΔW/m Δθ/(°) 0~20 0.132 0.0099 0.195 20~30 0.156 0.0121 0.115 30~40 0.188 0.0162 0.0819 Over 40 0.223 0.0271 0.0541 Total 0.181 0.0218 0.122
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Huaiyu Cai, Zhaoqian Yang, Ziyang Cui, Yi Wang, Xiaodong Chen. Image-guided and point cloud space-constrained method for detection and localization of abandoned objects on the road[J]. Opto-Electronic Engineering, 2024, 51(3): 230317-1
Paper Information
Category: Article
Received: Dec. 27, 2023
Accepted: Mar. 1, 2024
Published Online: Jul. 8, 2024
The Author Email: Chen Xiaodong (陈晓冬)
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