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Laser & Optoelectronics Progress, Volume. 61, Issue 18, 1837010(2024)

Improved Two-Stage 3D Object Detection Algorithm for Roadside Scenes with Enhanced PointPillars and Transformer

Liangzi Wang1,2,3, Miaohua Huang1,2,3、*, Ruoying Liu1,2,3, Chengcheng Bi1,2,3, and Yongkang Hu1,2,3
Author Affiliations
  • 1Hubei Key Laboratory of Advanced Technology for Automotive Components, Wuhan University of Technology, Wuhan 430070, Hubei, China
  • 2Hubei Collaborative Innovation Center for Automotive Components Technology, Wuhan University of Technology, Wuhan 430070, Hubei, China
  • 3Hubei Research Center for New Energy & Intelligent Connected Vehicle, Wuhan University of Technology, Wuhan 430070, Hubei, China
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    References(24)

    [1] Yu H B, Luo Y Z, Shu M et al. DAIR-V2X: a large-scale dataset for vehicle-infrastructure cooperative 3D object detection[C], 21329-21338(2022).

    [3] Chen X Z, Kundu K, Zhang Z Y et al. Monocular 3D object detection for autonomous driving[C], 2147-2156(2016).

    [4] He T, Soatto S. Mono3D++: monocular 3D vehicle detection with two-scale 3D hypotheses and task priors[J]. Proceedings of the AAAI Conference on Artificial Intelligence, 33, 8409-8416(2019).

    [5] Li P X, Zhao H C, Liu P F, Vedaldi A, Bischof H, Brox T et al. RTM3D: real-time monocular 3D detection from object keypoints for autonomous driving[M]. Computer vision-ECCV 2020.Lecture notes in computer science, 12348, 644-660(2020).

    [6] Wu Y Q, Chen H X, Zhang Y. Review of 3D point cloud processing methods based on deep learning[J]. Chinese Journal of Lasers, 51, 0509001(2024).

    [7] Li J N, Wang Z, Xu T F. Three-dimensional object detection technology based on point cloud data[J]. Acta Optica Sinica, 43, 1515001(2023).

    [8] Zhou Y, Tuzel O. VoxelNet: end-to-end learning for point cloud based 3D object detection[C], 4490-4499(2018).

    [9] Yan Y, Mao Y X, Li B. SECOND: sparsely embedded convolutional detection[J]. Sensors, 18, 3337(2018).

    [10] Lang A H, Vora S, Caesar H et al. PointPillars: fast encoders for object detection from point clouds[C], 12689-12697(2019).

    [11] Charles R Q, Hao S, Mo K C et al. PointNet: deep learning on point sets for 3D classification and segmentation[C], 77-85(2017).

    [12] Charles R Q, Yi L, Su H et al. PointNet++: deep hierarchical feature learning on point sets in a metric space[C], 5105-5114(2017).

    [13] Shi S S, Wang X G, Li H S. PointRCNN: 3D object proposal generation and detection from point cloud[C], 770-779(2019).

    [14] Chen X Z, Ma H M, Wan J et al. Multi-view 3D object detection network for autonomous driving[C], 6526-6534(2017).

    [15] Ku J, Mozifian M, Lee J et al. Joint 3D proposal generation and object detection from view aggregation[C](2018).

    [16] Vora S, Lang A H, Helou B et al. PointPainting: sequential fusion for 3D object detection[C], 4603-4611(2020).

    [17] Liang T T, Xie H W, Yu K C et al. BEVFusion: a simple and robust lidar-camera fusion framework[EB/OL]. https://arxiv.org/abs/2205.13790

    [18] Tian F, Liu C, Liu F et al. Laser radar 3D target detection based on improved PointPillars[J]. Laser & Optoelectronics Progress, 61, 0812007(2024).

    [19] Yang L, Zhang R Y, Li L et al. Simam: a simple, parameter-free attention module for convolutional neural networks[C], 11863-11874(2021).

    [20] He K M, Zhang X Y, Ren S Q et al. Deep residual learning for image recognition[C], 770-778(2016).

    [21] Peng P, Geng K K, Wang Z W et al. Review on environmental perception methods of autonomous vehicles[J]. Journal of Mechanical Engineering, 59, 281-303(2023).

    [22] Vaswani A, Shazeer N, Parmar N et al. Attention is all you need[EB/OL]. https://arxiv.org/abs/1706.03762

    [23] Shenga H L, Cai S J, Liu Y et al. Improving 3D object detection with channel-wise transformer[C], 2723-2732(2021).

    [24] Zhang Y, Shi Z G, Shen Q et al. Improved PointPillar point cloud object detection based on feature fusion[J]. Optics and Precision Engineering, 31, 2910-2920(2023).

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    Liangzi Wang, Miaohua Huang, Ruoying Liu, Chengcheng Bi, Yongkang Hu. Improved Two-Stage 3D Object Detection Algorithm for Roadside Scenes with Enhanced PointPillars and Transformer[J]. Laser & Optoelectronics Progress, 2024, 61(18): 1837010

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    Paper Information

    Category: Digital Image Processing

    Received: Jan. 12, 2024

    Accepted: Feb. 5, 2024

    Published Online: Sep. 14, 2024

    The Author Email: Miaohua Huang (mh_huang@163.com)

    DOI:10.3788/LOP240516

    CSTR:32186.14.LOP240516

    Topics

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology