Fig. 1. Improved F-PointNet structure

Fig. 2. Network structure for extracting candidate regions of frustum point cloud

Fig. 3. Registration results of 2D images and 3D point clouds. (a) RGB image; (b) 3D point cloud data; (c) registration effect of Fig. (a) and Fig. (b)

Fig. 4. 3D target frustum candidate region initially obtained

Fig. 5. Schematic of viewing frustum orientation adjustment

Fig. 6. 3D target mask prediction network

Fig. 7. Attention mechanism implementation process

Fig. 8. 3D target bounding box prediction network

Fig. 9. Coordinate transformation of target instance point cloud

Fig. 10. Visual 3D target bounding box prediction results. (a) 2D target detection result; (b) 3D target detection result