Laser & Optoelectronics Progress, Volume. 58, Issue 2, 0215004(2021)
Three-Dimensional Vehicle Detection Algorithm Based on Binocular Vision
Figures & Tables(8)
Fig. 4. Detection results of different algorithms. (a) Stereo R-CNN; (b) our algorithm
Table 1. Detail structure of bottleneck blocks A and B
View tableTable 1. Detail structure of bottleneck blocks A and B
Bottleneck block Detail structure A keneral size 1×1 conv, 256 channels keneral size 3×3 conv, dilate2, 256 channels keneral size 1×1 conv, 256 channels B keneral size 1×1 conv, 256 channels keneral size 3×3 conv, dilate2, 256 channels + keneral size 1×1conv keneral size 1×1 conv, 256 channels
Table 2. Average precision of 2D detection unit: %
View tableTable 2. Average precision of 2D detection unit: %
Algorithm Left Right Stereo Easy Mode Hard Easy Mode Hard Easy Mode Hard Faster R-CNN 98.57 89.01 71.54 -- -- -- -- -- -- Stereo R-CNN 98.73 88.48 71.26 98.71 88.50 71.28 98.53 88.27 71.14 DetNet only 98.01 88.52 73.44 98.80 88.32 72.67 98.63 88.44 73.16 Ours 98.50 88.92 73.63 98.34 88.25 73.10 98.44 88.76 73.18
Table 3. Average precision of 3D detection (IoU is 0.5) unit: %
View tableTable 3. Average precision of 3D detection (IoU is 0.5) unit: %
Algorithm Bird’s eye view 3D box Easy Mode Hard Easy Mode Hard 3DOP[ 5 ]55.04 41.25 34.55 46.04 34.63 30.09 Stereo R-CNN 87.13 74.11 58.93 85.84 66.28 57.24 DetNet only 87.02 74.26 58.98 85.12 65.85 57.81 Ours 88.63 75.90 59.46 86.66 66.39 58.18
Table 4. Average precision of 3D detection (IoU is 0.7) unit: %
View tableTable 4. Average precision of 3D detection (IoU is 0.7) unit: %
Algorithm Bird’s eye view 3D box Easy Mode Hard Easy Mode Hard 3DOP[ 5 ]12.63 9.49 7.59 6.55 5.07 4.10 Stereo R-CNN 68.50 48.30 41.47 54.11 36.69 31.07 DetNet only 67.42 49.21 42.68 52.12 34.85 31.81 Ours 69.63 49.90 43.46 55.66 36.39 32.14
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Jiexiao Yu, Meiqi Zhang, Yuting Su. Three-Dimensional Vehicle Detection Algorithm Based on Binocular Vision[J]. Laser & Optoelectronics Progress, 2021, 58(2): 0215004
Paper Information
Category: Machine Vision
Received: May. 19, 2020
Accepted: Jul. 7, 2020
Published Online: Jan. 11, 2021
The Author Email: Meiqi Zhang (zhangmeiqi@tju.edu.cn)
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