Three-Dimensional Object Detection in Substation Operation Scene Based on Attention Mechanism

Wei Gao; Boyang He; Ting Zhang; Meiqing Guo; Jun Liu; Huimin Wang; Xingzhong Zhang

doi:10.3788/LOP202259.2210010

Laser & Optoelectronics Progress, Volume. 59, Issue 22, 2210010(2022)

Three-Dimensional Object Detection in Substation Operation Scene Based on Attention Mechanism

Wei Gao¹, Boyang He¹, Ting Zhang², Meiqing Guo², Jun Liu², Huimin Wang², and Xingzhong Zhang^2、*

Author Affiliations

¹Internet Department, State Grid Shanxi Electric Power Company, Taiyuan 030021, Shanxi , China

²College of Software, Taiyuan University of Technology, Jinzhong 030600, Shanxi , China

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Figures & Tables(13)

Fig. 1. PowerNet structure

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Fig. 2. Local area. (a) Local area input; (b) local area representation

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Fig. 3. Channel direction attention structure diagram

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Fig. 4. Point direction attention structure diagram

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Fig. 5. Serial attention structure diagram

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Fig. 6. Dataset collector and sample illustration. (a) Dataset collector; (b) sample illustration

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Fig. 7. Data annotation. (a) PCAT annotated point cloud; (b) LabelImg annotated images; (c) label format

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Fig. 8. Loss curve and performance curve

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Fig. 9. Test result. (a) RGB images; (b) point cloud diagrams

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Table 1. Comparison of effects of different combinations of attention on network performance

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Table 1. Comparison of effects of different combinations of attention on network performance

Channel-direction attention	Point-direction attention	Parallel			Serial
		AP		mAP	$A P$		mAP
		Pedestrian	Transformer	mAP	Pedestrian	Transformer	mAP
Two-layer MLP	7×7 filter	0.550	0.776	0.663	0.572	0.797	0.685
Two-layer MLP	5×5 filter	0.559	0.781	0.670	0.576	0.800	0.688
Four-layer MLP	7×7 filter	0.572	0.794	0.683	0.591	0.849	0.720
Four-layer MLP	5×5 filter	0.579	0.802	0.691	0.602	0.867	0.735

Table 2. Choice of attention structure
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Table 2. Choice of attention structure
Channel-direction attention
（four-layer MLP）
Point-direction attention
（5×5 filter）
AP $m A P$
Pedestrian Transformer
- - 0.545 0.775 0.660
✓ - 0.572 0.790 0.681
- ✓ 0.560 0.779 0.670
✓ ✓ 0.602 0.867 0.735

Table 3. Choice of loss function
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Table 3. Choice of loss function
Cross entropy loss Focal loss $A P$ $m A P$
Pedestrian Transformer
✓ - 0.572 0.868 0.720
- ✓ 0.602 0.867 0.735

Table 4. Performance comparison results of mainstream detection models

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Table 4. Performance comparison results of mainstream detection models

Method	Model	$A P$		$m A P$
Method	Model	Pedestrian	Transformer	$m A P$
3D to 2D	PIXOR^［9］	0.527	0.755	0.641
3D to 2D	Complex-YOLO^［10］	0.533	0.779	0.656
Voxelization	Vote3Deep^［15］	0.537	0.733	0.635
Voxelization	VoxelNet^［13］	0.531	0.802	0.667
Original point cloud	PointNet^［17］	0.540	0.762	0.651
	PointNet++^［18］	0.545	0.775	0.660
	Proposed method	0.602	0.867	0.735

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Wei Gao, Boyang He, Ting Zhang, Meiqing Guo, Jun Liu, Huimin Wang, Xingzhong Zhang. Three-Dimensional Object Detection in Substation Operation Scene Based on Attention Mechanism[J]. Laser & Optoelectronics Progress, 2022, 59(22): 2210010

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