Three-Dimensional Point Cloud Object Detection Based on Feature Fusion and Enhancement

Abstract

With the continuous emergence and development of 3D sensors in recent years, it has become increasingly convenient to collect point cloud data for 3D object detection tasks, such as the field of autonomous driving. But when using these existing methods, there are two problems that cannot be ignored: (1) The bird’s eye view (BEV) is a widely used method in 3D objective detection; however, the BEV usually compresses dimensions by combined height, dimension, and channels, which makes the process of feature extraction in feature fusion more difficult. (2) Light detection and ranging (LiDAR) has a much larger effective scanning depth, which causes the sector to become sparse in deep space and the uneven distribution of point cloud data. This results in few features in the distribution of neighboring points around the key points of interest. The following is the solution proposed in this paper: (1) This paper proposes multi-scale feature fusion composed of feature maps at different levels made of Deep Layer Aggregation (DLA) and a feature fusion module for the BEV. (2) A point completion network is used to improve the prediction results by completing the feature points inside the candidate boxes in the second stage, thereby strengthening their position features. Supervised contrastive learning is applied to enhance the segmentation results, improving the discrimination capability between the foreground and background. Experiments show these new additions can achieve improvements of 2.7%, 2.4%, and 2.5%, respectively, on KITTI easy, moderate, and hard tasks. Further ablation experiments show that each addition has promising improvement over the baseline.

Keywords

• point cloud
• 3D object detection
• feature fusion
• segmentation
• contrastive learning