Point-Rich: Enriching Sparse Light Detection and Ranging Point Clouds for Accurate Three-Dimensional Object Detection

Abstract

LiDAR point clouds often suffer from sparsity and uneven distributions in outdoor scenes, leading to the poor performance of cutting-edge 3D object detectors. In this paper, we propose Point-Rich, which is designed to improve the performance of 3D object detection. Point-Rich consists of two key modules: HighDensity and HighLight. The HighDensity module addresses the issue of density imbalance by enhancing the point cloud density. The HighLight module leverages image semantic features to enrich the point clouds. Importantly, Point-Rich imposes no restrictions on the 3D object detection architecture and remains unaffected by feature or depth blur. The experimental results show that compared with the Pointpillars on the KITTI dataset, the mAP of Point-Rich under the bird’s eyes view improves by 5.53% on average.

Keywords

• Point-Rich
• 3D object detection
• lightweight network