Laser & Optoelectronics Progress, Volume. 62, Issue 10, 1012001(2025)
Enhancing PointPillars Three-Dimensional Object Detection with Density Clustering and Dual Attention Mechanisms
Figures & Tables(14)
Fig. 10. KITTI test set visualization results. (a) Test set 107; (b) test set 181
Table 1. Variation of network accuracy with different minimum point parameters
View tableTable 1. Variation of network accuracy with different minimum point parameters
Model car cyclist easy moderate hard easy moderate hard PointPillars 82.48 71.84 67.38 69.45 55.47 51.10 DBSCAN-PointPillars（NMinPts=2） 84.36 73.13 69.62 69.61 55.22 51.09 DBSCAN-PointPillars（NMinPts=3） 83.02 73.80 69.77 66.43 52.76 48.96 DBSCAN-PointPillars（NMinPts=4） 82.24 71.58 68.11 68.03 53.64 50.19
Table 2. AOS of different modules on the KITTI validation set
View tableTable 2. AOS of different modules on the KITTI validation set
Model car cyclist easy moderate hard easy moderate hard PointPillars 92.70 88.67 87.35 73.42 58.70 54.73 DBSCAN-PointPillars 94.63 89.04 87.50 78.95 64.70 60.47 SACA-PointPillars 94.53 90.35 87.79 79.47 64.82 61.01 PointPillars++ 95.17 90.73 88.09 79.55 65.23 61.10
Table 3. Detection accuracy of PointPillars with different attention mechanisms on the KITTI validation set
View tableTable 3. Detection accuracy of PointPillars with different attention mechanisms on the KITTI validation set
Model car cyclist easy moderate hard easy moderate hard PointPillars 82.48 71.84 67.38 69.45 55.47 51.10 SA-PointPillars 84.31 74.76 70.72 73.24 55.93 52.65 SACA-PointPillars 84.14 74.88 71.92 74.41 57.04 53.24
Table 4. Results of ablation experiments with DBSCAN and SACA
View tableTable 4. Results of ablation experiments with DBSCAN and SACA
Modle DBSCAN SACA car cyclist easy moderate hard easy moderate hard PointPillars 82.48 71.84 67.38 69.45 55.47 51.10 Experiment 1 √ 84.36 73.13 69.62 69.61 55.22 51.09 Experiment 2 √ 84.14 74.88 71.92 74.41 57.04 53.24 PointPillars++ √ √ 84.89 75.32 72.25 75.71 56.87 52.74
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Qingxin Yang, Deming Kong, Jing Chen, Xiaowei Li, Yue Shen. Enhancing PointPillars Three-Dimensional Object Detection with Density Clustering and Dual Attention Mechanisms[J]. Laser & Optoelectronics Progress, 2025, 62(10): 1012001
Paper Information
Category: Instrumentation, Measurement and Metrology
Received: Feb. 22, 2024
Accepted: Apr. 26, 2024
Published Online: Apr. 23, 2025
The Author Email:
CSTR:32186.14.LOP240732
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