PointPillars-S 3D Object Detection Algorithm Based on Lidar

Table 1. Comparison of AP values in vehicle classification detection by different algorithms.
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Table 1. Comparison of AP values in vehicle classification detection by different algorithms.
Models 3D AP（car） mAP
Easy Moderate Hard
VoxelNet 78.56 65.89 58.21 67.55
SECOND 84.65 73.98 66.46 75.03
PointPillars 83.23 72.86 67.80 74.63
PointRCNN 85.13 74.59 68.79 76.17
Our 85.84 74.07 69.30 76.40

Table 2. Comparison of AP values for pedestrian classification detection by different algorithms
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Table 2. Comparison of AP values for pedestrian classification detection by different algorithms
Models 3D AP（pedestrian） mAP
Easy Moderate Hard
VoxelNet 51.49 49.42 46.87 49.26
SECOND 51.16 42.76 37.61 43.84
PointPillars 47.10 44.54 40.74 44.13
PointRCNN 53.46 47.86 43.30 48.21
Our 56.28 52.64 46.56 51.83

Table 3. Comparison of AP values for rider classification detection by different algorithms
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Table 3. Comparison of AP values for rider classification detection by different algorithms
Models 3D AP（cyclist） mAP
Easy Moderate Hard
VoxelNet 68.46 48.62 45.19 54.09
SECOND 71.73 56.10 49.23 59.02
PointPillars 72.56 59.90 57.19 63.22
PointRCNN 74.73 62.45 56.31 64.50
Our 76.24 60.51 57.46 64.74

Table 4. Ablation experiment results

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Table 4. Ablation experiment results

Double main trunk	MAVE	PolyFocalLoss	Car		Cyclist		Pedestrian
Double main trunk	MAVE	PolyFocalLoss	3D	BEV	3D	BEV	3D	BEV
			74.63	84.68	63.22	66.78	44.13	53.21
√			75.64	84.95	64.05	69.79	48.26	55.14
√	√		75.08	84.88	64.51	70.15	49.53	57.68
√	√	√	76.40 （+1.77）	85.23 （+0.55）	64.74 （+1.53）	71.17 （+4.39）	51.83 （+7.68）	58.61 （+5.4）

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Zengxu ZHAO, Lianqing HU, Bin REN, Shuai YUAN. PointPillars-S 3D Object Detection Algorithm Based on Lidar[J]. Acta Photonica Sinica, 2025, 54(6): 0614002

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Paper Information

Category:

Received: Dec. 25, 2024

Accepted: Mar. 4, 2025

Published Online: Jul. 14, 2025

The Author Email: Lianqing HU (164066960@qq.com)

DOI:10.3788/gzxb20255406.0614002

Topics

laser devices and laser physics

Lasers and Laser Optics

Laser physics

laser manufacturing

Instrumentation, Measurement and Metrology

Table 1. Comparison of AP values in vehicle classification detection by different algorithms.

Table 1. Comparison of AP values in vehicle classification detection by different algorithms.

Table 2. Comparison of AP values for pedestrian classification detection by different algorithms

Table 2. Comparison of AP values for pedestrian classification detection by different algorithms

Table 3. Comparison of AP values for rider classification detection by different algorithms

Table 3. Comparison of AP values for rider classification detection by different algorithms

Table 4. Ablation experiment results

Table 4. Ablation experiment results