Citation: | LIU Yonggang, YU Fengning, ZHANG Xinjie, CHEN Zheng, QIN Datong. Research on 3D Object Detection Based on Laser Point Cloud and Image Fusion[J]. JOURNAL OF MECHANICAL ENGINEERING, 2022, 58(24): 289-299. doi: 10.3901/JME.2022.24.289 |
[1] |
薛培林, 吴愿, 殷国栋, 等. 基于信息融合的城市自主车辆实时目标识别[J]. 机械工程学报, 2020, 56(12): 165-173. doi: 10.3901/JME.2020.12.165
XUE Peilin, WU Yuan, YIN Guodong, et al. Real-time target recognition of urban autonomous vehicles based on information fusion[J]. Chinese Journal of Mechanical Engineering, 2020, 56(12): 165-173. doi: 10.3901/JME.2020.12.165
|
[2] |
彭育辉, 郑玮鸿, 张剑锋. 基于深度学习的道路障碍物检测方法[J]. 计算机应用, 2020, 40(8): 2428-2433. https://www.cnki.com.cn/Article/CJFDTOTAL-JSJY202008040.htm
PENG Yuhui, ZHENG Weihong, ZHANG Jianfeng. Road obstacle detection method based on deep learning[J]. Journal of Computer Applications, 2020, 40(8): 2428-2433. https://www.cnki.com.cn/Article/CJFDTOTAL-JSJY202008040.htm
|
[3] |
WANG D L, POSNER I. Voting for voting in online point cloud object detection[C]//Robotics: Science and Systems Xi, Sapienza Univ Rome: MIT PRESS, 2015: 13-22.
|
[4] |
ZHOU Yin, TUZEL O. VoxelNet: end-to-end learning for point cloud based 3D object detection[C]//2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition(CVPR), Salt Lake City UT: IEEE Comp Soc, 2018: 4490-4499.
|
[5] |
YAN Yan, MAO Yuxing, LI Bo. SECOND: Sparsely embedded convolutional detection[J]. Sensors, 2018, 18(10): 3337-3354. doi: 10.3390/s18103337
|
[6] |
KUANG Hongwu, WANG Bei, AN Jianping, et al. Voxel-FPN: Multi-scale voxel feature aggregation for 3d object detection from lidar point clouds[J]. Sensors, 2020, 20(3): 704-723. doi: 10.3390/s20030704
|
[7] |
ENGELCKE M, RAO D, ZENG D, et al. Vote3Deep: fast object detection in 3d point clouds using efficient convolutional neural ntworks[C]//2017 IEEE International Conference on Robotics and Automation (ICRA), Singapore: IEEE, 2017: 1355-1361.
|
[8] |
B. 3D fully convolutional network for vehicle detection in point cloud[C]//2017 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS), Vancouver: IEEE, 2017: 1513-1518.
|
[9] |
QI C R, SU Hao, MO Kaichun, et al. PointNet: Deep learning on point sets for 3d classification and segmentation[C]//30th IEEE Conference on Computer Vision and Pattern Recognition(CVPR), Honolulu: IEEE, 2017: 77-85.
|
[10] |
QI C R, YI Li, SU Hao, et al. PointNet plus plus : Deep hierarchical feature learning on point sets in a metric space[C]//Proceedings of Advances in Neural Information Processing Systems 30, Long Beach CA: NIPS, 2017: 5099-5108.
|
[11] |
LI Yangyan, BU Rui, SUN Mingchao, et al. PointCNN: Convolution on x-transformed points[C]//Proceedings of Advances in Neural Information Processing Systems 31, Montreal: NIPS, 2018: 820-830.
|
[12] |
DENG Haowen, BIRDAL T, IlIE S, et al. PPFNet: Global context aware local features for robust 3D point matching[C]//2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition(CVPR), Salt Lake City UT: IEEE, 2018: 195-205.
|
[13] |
MEYER G P, LADDHA A, KEE E, et al. LaserNet: An efficient probabilistic 3D object detector for autonomous driving[C]//2019 IEEE/CVF Conference on Computer Vision and Pattern Recognition(CVPR), Long Beach CA: IEEE, 2019: 12669-12678.
|
[14] |
YANG Zetong, SUN Yanan, LIU Shu, et al. 3DSSD: point-based 3D single stage object detector[C]//2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition(CVPR), Seattle: IEEE, 2020: arXiv: 2002.10187.
|
[15] |
LI Bo, ZHANG Tianlei, XIA Tian. Vehicle detection from 3 D lidar using fully convolutional network[C]//Proceedings of Robotics: Science and Systems (RSS), Ann Arbor: MIT PRESS, 2016: 42-50.
|
[16] |
CHEN Xiaozhi, MA Huimin, WAN Ji, et al. Multi-view 3 D object detection network for autonomous driving[C]//30th IEEE/CVF Conference on Computer Vision and Pattern Recognition(CVPR), Honolulu: IEEE, 2017: 6526-6534.
|
[17] |
KU J, MOZIFIAN M, LEE J, et al. Joint 3d proposal generation and object detection from view aggregation[C]//2018 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS), Madrid: IEEE, 2018: 5750-5757.
|
[18] |
QI C R, LIU Wei, WU Chenxia, et al. Frustum pointnets for 3D object detection from RGB-D data[C]//2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition(CVPR), Salt Lake City UT: IEEE, 2018: 918-927.
|
[19] |
WANG Zhixin, JIA Kui. Frustum convNet: sliding frustums to aggregate local point-wise features for amodal 3D object detection[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau: IEEE, 2019: 1742-1749.
|
[20] |
LIANG Ming, YANG Bin, CHEN Yun, et al. Multi-task multi-sensor fusion for 3D object detection[C]//2019 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), Long Beach CA: IEEE, 2019: 7337-7345.
|
[21] |
LIANG Ming, YANG Bin, WANG Shenlong, et al. Deep continuous fusion for multi-sensor 3D object detection[C]//15th European Conference on Computer Vision (ECCV), Munich: Springer-Verlag Berlin, 2018: 663-678.
|
[22] |
REN Shaoqing, HE Kaiming, GIRSHICK R, et al. Faster R-CNN: towards real-time object detection with region proposal networks[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence(TPAMI), 2016, 36(6): 1137-1149.
|
[23] |
LIN T Y, DOLLAR P, GIRSHICK R, et al. Feature pyramid networks for object detection[C]//30th IEEE Conference on Computer Vision and Pattern Recognition(CVPR), Honolulu: IEEE, 2017: 936-944.
|
[24] |
WOO S, PARK J, LEE J Y, et al. CBAM: Convolutional block attention module[C]//15th European Conference on Computer Vision (ECCV), Munich: SPRINGER-VERLAG BERLIN, 2018: 3-19.
|
[25] |
VASWANI A, SHAZEER N, PARMAR N, et al. Attention is all you need[C]//Proceedings of Advances in Neural Information Processing Systems 30, Long Beach CA: NIPS, 2017: 1049-1064.
|
[26] |
GEIGER A, LENZ P, STILLER C, et al. Vision meets robotics: The kitti dataset[J]. International Journal of Robotics Research, 2013, 32(11): 1231-1237. doi: 10.1177/0278364913491297
|
[27] |
JADERBERG M, SIMONYAN K, ZISSERMAN A, et al. Spatial transformer networks[C]//Proceedings of Advances in Neural Information Processing Systems 28, Montreal: NIPS, 2015: 2017-2025.
|
[28] |
XU Danfei, ANGUELOV D, JAIN A. PointFusion: deep sensor fusion for 3d bounding box estimation[C]//31st IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), Salt Lake City UT: IEEE, 2018: 244-253.
|
[29] |
ZENG Yiming, HU Yu, LIU Shice, et al. RT3D: Real-time 3D vehicle detection in lidar point cloud for autonomous driving[J]. IEEE Robotics And Automation Letters, 2018, 3(4): 3434-3440. doi: 10.1109/LRA.2018.2852843
|