MENet: Map-enhanced 3D object detection in bird’s-eye view for LiDAR point clouds

Abstract

Three-dimensional (3D) object detection utilizes numerous onboard sensors to determine the position, size, and motion information of surrounding objects. Recently, some researchers have utilized HD maps in 3D object detection for LiDAR point clouds. However, existing LiDAR–map fusion detection methods simply take the HD map as an additional input and more prior information in the map is underexplored. To address this limitation, we employ the HD map in data augmentation for LiDAR 3D detection to eliminate the bias of distributions between the augmented training and test sets. Furthermore, we propose a map-enhanced 3D object detection network, called MENet, for LiDAR point clouds. Compared with the standard LiDAR-only detector in bird’s eye view (BEV), MENet extends LiDAR-based baselines by using a map encoder to encode the input rasterized HD map into a BEV feature. In addition, it uses a multimodal fuser to aggregate the map BEV feature with the LiDAR BEV feature extracted in the LiDAR stream. MENet achieved a mean average precision (mAP) of 56.90% and nuScenes detection score (NDS) of 63.43%, improving the mAP and NDS of its LiDAR-only backbone by 4.18% and 2.22%, respectively. Although the HD map is necessary at training time, the map-enhanced 3D detector can work robustly and perform better than the original baseline when there was no map input at test time. Experimental results further indicate that the proposed map plugins can improve the performance of both anchor-based and anchor-free models on different datasets. The code will be open-source at https://github.com/WHU-USI3DV/MENet.

Keywords

• Point cloud
• HD map
• 3D object detection
• Map-enhanced learning
• Autonomous driving