Xu, K.; Yang, Z.; Xu, Y.; Feng, L. A Novel Interactive Fusion Method with Images and Point Clouds for 3D Object Detection. Appl. Sci.2019, 9, 1065.
Xu, K.; Yang, Z.; Xu, Y.; Feng, L. A Novel Interactive Fusion Method with Images and Point Clouds for 3D Object Detection. Appl. Sci. 2019, 9, 1065.
Xu, K.; Yang, Z.; Xu, Y.; Feng, L. A Novel Interactive Fusion Method with Images and Point Clouds for 3D Object Detection. Appl. Sci.2019, 9, 1065.
Xu, K.; Yang, Z.; Xu, Y.; Feng, L. A Novel Interactive Fusion Method with Images and Point Clouds for 3D Object Detection. Appl. Sci. 2019, 9, 1065.
Abstract
This paper aims at tackling with the task of fusion feature from images and its corresponding point clouds for 3D object detection in autonomous driving scenarios basing on AVOD, an Aggregate View Object Detection network. The proposed fusion algorithms fuse features targeted from Bird’s Eye View (BEV) LIDAR point clouds and its corresponding RGB images. Differs in existing fusion methods, which are simply the adoptions of concatenation module, element-wise sum module or element-wise mean module, our proposed fusion algorithms enhance the interaction between BEV feature maps and its corresponding images feature maps by designing a novel structure, where single level feature maps and another utilizes multilevel feature maps. Experiments show that our proposed fusion algorithm produces better results on 3D mAP and AHS with less speed loss comparing to existing fusion method used on the KITTI 3D object detection benchmark.
Keywords
fusion; point clouds; images; object detection
Subject
Computer Science and Mathematics, Computer Vision and Graphics
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
