GridNet-3D: A Novel Real-Time 3D Object Detection Algorithm Based on Point Cloud
GridNet-3D: A Novel Real-Time 3D Object Detection Algorithm Based on Point Cloud作者机构：School of Computer Science and Engineering Nanjing University of Science and Technology
出 版 物：《Chinese Journal of Electronics》 (电子学报(英文))
年 卷 期：2021年第30卷第5期
页 面：931-939页
核心收录：
学科分类：082304[工学-载运工具运用工程] 08[工学] 080203[工学-机械设计及理论] 080204[工学-车辆工程] 0802[工学-机械工程] 0823[工学-交通运输工程]
主 题：GridNet-3D point cloud features region proposal network module structure grid encoding layer grid feature maps 2D gridmapping intelligent transportation systems end-to-end real-time object detection algorithm KITTI 3D detection benchmark feature extraction automatic driving technology object detection 3D convolution
摘 要：3D object detection based on point cloud has an important application prospect in automatic driving technology. Aiming at the low precision of 3D object detection based on point cloud and the poor real-time performance caused by large numbers of 3D convolutions, a novel end-to-end real-time object detection algorithm named GridNet-3D is proposed. In the work, 2D gridmapping is used to preprocess the original point *** a novel structure grid encoding layer is adopted to encode point cloud features and is gotten grid feature maps in bird s eye view which is connected to region proposal network module to generate detections. Despite only using point clouds, the results on the KITTI 3D detection benchmark show that our algorithm has higher detection precision and better real-time performance on the detection of cars, pedestrians and cyclists, which has high practical value.
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