Keypoint-Aware Single-Stage 3D Object Detector for Autonomous Driving

Abstract

Current single-stage 3D object detectors often use predefined single points of feature maps to generate confidence scores. However, the point feature not only lacks the boundaries and inner features but also does not establish an explicit association between regression box and confidence scores. In this paper, we present a novel single-stage object detector called keypoint-aware single-stage 3D object detector (KASSD). First, we design a lightweight location attention module (LLM), including feature reuse strategy (FRS) and location attention module (LAM). The FRS can facilitate the flow of spatial information. By considering the location, the LAM adopts weighted feature fusion to obtain efficient multi-level feature representation. To alleviate the inconsistencies mentioned above, we introduce a keypoint-aware module (KAM). The KAM can model spatial relationships and learn rich semantic information by representing the predicted object as a set of keypoints. We conduct experiments on the KITTI dataset. The experimental results show that our method has a competitive performance with 79.74% AP on a moderate difficulty level while maintaining 21.8 FPS inference speed.

Keywords

• 3D single stage object detector
• feature reuse strategy
• location attention module
• keypoint-aware module