采用稀疏3D卷积的单阶段点云三维目标检测方法

李悄; 李垚辰; 张玉龙; 唐文能; 曹鲁光; 左良玉

doi:10.7652/xjtuxb202209012

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采用稀疏3D卷积的单阶段点云三维目标检测方法

—————————————————————— | 更新时间：2025-07-09

- 采用稀疏3D卷积的单阶段点云三维目标检测方法
- A Single-Stage Point Cloud 3D Object Detection Method Using Sparse 3D Convolution
- 西安交通大学学报 2022年56卷第9期页码：112-122
- 作者机构：
  
  1. 西安交通大学电子与信息学部,西安,710049
  2. 上海机电工程研究所,上海,201109
- 作者简介：
  
  : 2022-01-18。作者简介: 李悄(1996—),男,硕士生
  李垚辰(通信作者),男,副教授,博士生导师。基金项目: 国家自然科学基金资助项目(61803298)
- 基金信息：
  
  : 2022-01-18。作者简介: 李悄(1996—),男,硕士生;李垚辰(通信作者),男,副教授,博士生导师。基金项目: 国家自然科学基金资助项目(61803298);陕西省重点研发计划资助项目(2022GY-080)
- DOI：10.7652/xjtuxb202209012
  中图分类号： TP391
- 网络首发：2022-09-10，
  
  纸质出版：2022
- 稿件说明：
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李悄, 李垚辰, 张玉龙, 等. 采用稀疏3D卷积的单阶段点云三维目标检测方法[J]. 西安交通大学学报, 2022,56(9):112-122.

LI Qiao, LI Yaochen, ZHANG Yulong, et al. A Single-Stage Point Cloud 3D Object Detection Method Using Sparse 3D Convolution[J]. 2022, 56(9): 112-122.
李悄, 李垚辰, 张玉龙, 等. 采用稀疏3D卷积的单阶段点云三维目标检测方法[J]. 西安交通大学学报, 2022,56(9):112-122. DOI： 10.7652/xjtuxb202209012.

LI Qiao, LI Yaochen, ZHANG Yulong, et al. A Single-Stage Point Cloud 3D Object Detection Method Using Sparse 3D Convolution[J]. 2022, 56(9): 112-122. DOI： 10.7652/xjtuxb202209012.

摘要

针对点云体素化的三维目标检测方法中点云的特征提取能力不足的问题

将三维目标检测方法SECOND作为基准网络

提出一种采用稀疏3D卷积的单阶段点云三维目标检测(Reinforced SECOND)方法。首先

改进点云分组方式形成鲁棒的抽离体素特征的体素特征编码网络; 其次

为增强体素中对检测任务有显著贡献的关键特征

同时抑制不相关噪声特征

把堆叠三重注意力机制引入体素特征编码网络; 然后

提出残差稀疏卷积单元

设计了残差稀疏卷积中间网络

提高了该网络层的特征提取能力

保留了更多的原始特征信息; 最后

把提出的空间语义特征融合(SSFF)模块引入区域建议网络

自适应地融合低级空间特征和高级抽象语义特征

进一步提高了模型特征的表达能力。在KITTI开源数据集上的实验结果表明:与之前许多基于网格及基于点的方法相比

所提方法显著提高了三维目标检测性能; 与基准网络相比

采用所提方法对KITTI测试集car类和cyclist类进行检测

中等难度级别下的3D检测精度分别提高了5.85%和8.9%

困难难度级别下的3D检测精度分别提高了8.54%和8.53%。

Abstract

In view of the insufficient ability to extract features of point clouds for 3D object detection methods based on point cloud voxelization

this paper proposes a single-stage point cloud 3D object detection method(Reinforced SECOND)based on sparse 3D convolution using SECOND as the baseline. Firstly

the point cloud grouping method is improved herein to form a robust voxel feature encoding network that extracts voxel features. Secondly

to further enhance the key features in voxels that significantly contribute to the detection task while suppressing irrelevant and noisy features

this paper introduces the stacked triple attention mechanism into the voxel feature encoding network. Then

this paper proposes the residual sparse 3D convolution unit and designs the residual sparse convolution intermediate network

which improves the feature extraction ability of this network layer and retains more original feature information. Finally

this paper introduces the proposed spatial-semantic feature fusion(SSFF)module into the region proposal network

which adaptively fuses low-level spatial features and high-level abstract semantic features

further improving the expressiveness of model features. Experimental results on the KITTI open-source dataset demonstrate the proposed method significantly improves 3D object detection performance compared to many previous grid-based and point-based methods. Compared with the benchmark network of this method

3D car and cyclist detection in the KITTI test set are improved by 5.85% and 8.9% on the moderate mAP and by 8.54% and 8.53% on the hard mAP.

关键词

Keywords

references

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