LIDAR point cloud-based 3D object detection aims to sense the surrounding environment by anchoring objects with the Bounding Box(BBox).However,under the three-dimensional space of autonomous driving scenes,the previou...
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LIDAR point cloud-based 3D object detection aims to sense the surrounding environment by anchoring objects with the Bounding Box(BBox).However,under the three-dimensional space of autonomous driving scenes,the previous object detection methods,due to the pre-processing of the original LIDAR point cloud into voxels or pillars,lose the coordinate information of the original point cloud,slow detection speed,and gain inaccurate bounding box *** address the issues above,this study proposes a new two-stage network structure to extract point cloud features directly by PointNet++,which effectively preserves the original point cloud coordinate *** improve the detection accuracy,a shell-based modeling method is *** roughly determines which spherical shell the coordinates belong ***,the results are refined to ground truth,thereby narrowing the localization range and improving the detection *** improve the recall of 3D object detection with bounding boxes,this paper designs a self-attention module for 3D object detection with a skip connection *** of these features are highlighted by weighting them on the feature *** training,it makes the feature weights that are favorable for object detection get ***,the extracted features are more adapted to the object detection *** comparison experiments and ablation experiments conducted on the KITTI dataset verify the effectiveness of our proposed method in improving recall and precision.
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