Laser & Optoelectronics Progress, Volume. 62, Issue 6, 0615012(2025)
Improved PointPillars Algorithm Based on Point Cloud Feature Enhancement
Figures & Tables(12)
Table 1. Comparison of AP for different algorithms
View tableTable 1. Comparison of AP for different algorithms
Model car pedestrian cyclist easy moderate hard easy moderate hard easy moderate hard F-PointNet 81.20 70.39 62.19 51.21 44.89 40.23 71.96 56.77 50.39 VoxelNeXt 83.88 75.58 70.77 47.46 39.97 37.43 78.18 61.74 54.68 SECOND 83.13 73.66 66.20 51.07 42.56 37.29 70.51 53.85 46.90 PointRCNN 85.94 75.76 68.32 49.43 41.78 38.63 73.93 59.60 53.59 PointPillas 82.58 74.31 68.99 51.45 41.92 38.89 75.78 59.07 52.92 Proposed model 85.99 77.66 72.51 53.47 44.68 42.75 79.51 62.85 57.11
Table 2. Comparison of AP for different models
View tableTable 2. Comparison of AP for different models
Model DA ECA EB car pedestrian cyclist easy moderate hard easy moderate hard easy moderate hard PointPillars 86.1 76.9 75.2 54.0 47.8 42.5 80.0 61.6 58.3 Model 1 √ 86.3 76.7 74.5 55.1 49.5 45.6 81.9 62.6 60.1 Model 2 √ 86.8 77.1 75.7 59.8 53.9 48.9 81.3 62.8 59.8 Model 3 √ 86.4 77.2 75.4 55.7 52.0 47.5 84.4 63.7 61.1 Proposed model √ √ √ 87.4 77.7 76.7 61.9 56.4 50.8 84.0 64.5 62.1
Table 3. Comparison of AOS for different models
View tableTable 3. Comparison of AOS for different models
Model DA ECA EB car pedestrian cyclist easy moderate hard easy moderate hard easy moderate hard PointPillars 90.1 88.8 86.4 47.2 44.5 42.3 85.3 71.1 67.1 Model 1 √ 90.7 89.2 88.1 46.5 44.3 41.7 85.7 70.9 66.4 Model 2 √ 90.4 89.3 88.5 54.3 51.3 47.1 87.3 74.1 72.1 Model 3 √ 90.7 90.0 88.4 50.6 48.0 44.0 87.0 73.0 69.8 Proposed model √ √ √ 90.8 89.6 88.8 54.7 52.4 48.2 89.7 76.3 73.2
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Gan Zhang, Yuhui Peng, Baozhe Sun, Shenyang Lin, Jiaming Zhang. Improved PointPillars Algorithm Based on Point Cloud Feature Enhancement[J]. Laser & Optoelectronics Progress, 2025, 62(6): 0615012
Paper Information
Category: Machine Vision
Received: Jul. 25, 2024
Accepted: Sep. 3, 2024
Published Online: Mar. 12, 2025
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CSTR:32186.14.LOP241730
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