Scale-Aware Attention-Based PillarsNet (SAPN) Based 3D Object Detection for Point Cloud
Joint Authors
Jiang, Huilin
Song, Xiang
Che, Xiaoyu
Zhan, Weiqin
Yang, Biao
Source
Mathematical Problems in Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-10-22
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
Three-dimensional object detection can provide precise positions of objects, which can be beneficial to many robotics applications, such as self-driving cars, housekeeping robots, and autonomous navigation.
In this work, we focus on accurate object detection in 3D point clouds and propose a new detection pipeline called scale-aware attention-based PillarsNet (SAPN).
SAPN is a one-stage 3D object detection approach similar to PointPillar.
However, SAPN achieves better performance than PointPillar by introducing the following strategies.
First, we extract multiresolution pillar-level features from the point clouds to make the detection approach more scale-aware.
Second, a spatial-attention mechanism is used to highlight the object activations in the feature maps, which can improve detection performance.
Finally, SE-attention is employed to reweight the features fed into the detection head, which performs 3D object detection in a multitask learning manner.
Experiments on the KITTI benchmark show that SAPN achieved similar or better performance compared with several state-of-the-art LiDAR-based 3D detection methods.
The ablation study reveals the effectiveness of each proposed strategy.
Furthermore, strategies used in this work can be embedded easily into other LiDAR-based 3D detection approaches, which improve their detection performance with slight modifications.
American Psychological Association (APA)
Song, Xiang& Zhan, Weiqin& Che, Xiaoyu& Jiang, Huilin& Yang, Biao. 2020. Scale-Aware Attention-Based PillarsNet (SAPN) Based 3D Object Detection for Point Cloud. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-12.
https://search.emarefa.net/detail/BIM-1194745
Modern Language Association (MLA)
Song, Xiang…[et al.]. Scale-Aware Attention-Based PillarsNet (SAPN) Based 3D Object Detection for Point Cloud. Mathematical Problems in Engineering No. 2020 (2020), pp.1-12.
https://search.emarefa.net/detail/BIM-1194745
American Medical Association (AMA)
Song, Xiang& Zhan, Weiqin& Che, Xiaoyu& Jiang, Huilin& Yang, Biao. Scale-Aware Attention-Based PillarsNet (SAPN) Based 3D Object Detection for Point Cloud. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-12.
https://search.emarefa.net/detail/BIM-1194745
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1194745