PA3DNet: 3-D Vehicle Detection with Pseudo Shape Segmentation and Adaptive Camera-LiDAR Fusion

3-D vehicle detection is a key perception technique in autonomous driving. In this article, a novel 3-D vehicle detection framework that fuses camera images and LiDAR point clouds is proposed, named PA3DNet. The key novelties of PA3DNet is the proposing of a Pseudo Shape Segmentation (PSS) model and...

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Bibliographic Details
Published inIEEE transactions on industrial informatics Vol. 19; no. 11; pp. 1 - 11
Main Authors Wang, Meiling, Zhao, Lin, Yue, Yufeng
Format Journal Article
LanguageEnglish
Published Piscataway IEEE 01.11.2023
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
3-D Object Detection
Autonomous Driving
Cameras
Feature extraction
Image segmentation
Laser radar
Lidar
Modules
Multi-modal Fusion
Point cloud compression
Self-assembly
Semantics
Shape
Vehicle detection
Visualization
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Summary:3-D vehicle detection is a key perception technique in autonomous driving. In this article, a novel 3-D vehicle detection framework that fuses camera images and LiDAR point clouds is proposed, named PA3DNet. The key novelties of PA3DNet is the proposing of a Pseudo Shape Segmentation (PSS) model and an Adaptive Camera-LiDAR Fusion (ACLF) module. The PSS model leverages self-assembled vehicle prototypes to learn shape-aware vehicle features. In order to achieve the adaptive fusion between visual semantics and LiDAR point features, learnable weight parameters are developed in the ACLF module to formulate an implicit complementarity between the two modalities. Extensive experiments on the widely used autonomous driving KITTI dataset demonstrate that PA3DNet achieves competitive accuracy when compared to advanced methods. It achieves 5.37% higher AP on Easy difficulty of 30-50m and 9.67% higher AP on Moderate difficulty of 50m.
ISSN:1551-3203
1941-0050
DOI:10.1109/TII.2023.3241585