KDA3D: Key-Point Densification and Multi-Attention Guidance for 3D Object Detection

doi:10.3390/rs12111895

CORC > 长春光学精密机械与物理研究所 > 中国科学院长春光学精密机械与物理研究所

	KDA3D: Key-Point Densification and Multi-Attention Guidance for 3D Object Detection
	J. R. Wang,M. Zhu,B. Wang,D. Y. Sun,H. Wei,C. J. Liu and H. T. Nie
刊名	Remote Sensing
	2020
卷号	12 期号:11 页码:27
DOI	10.3390/rs12111895
英文摘要	In this paper, we propose a novel 3D object detector KDA3D, which achieves high-precision and robust classification, segmentation, and localization with the help of key-point densification and multi-attention guidance. The proposed end-to-end neural network architecture takes LIDAR point clouds as the main inputs that can be optionally complemented by RGB images. It consists of three parts: part-1 segments 3D foreground points and generates reliable proposals; part-2 (optional) enhances point cloud density and reconstructs the more compact full-point feature map; part-3 refines 3D bounding boxes and adds semantic segmentation as extra supervision. Our designed lightweight point-wise and channel-wise attention modules can adaptively strengthen the "skeleton" and "distinctiveness" point-features to help feature learning networks capture more representative or finer patterns. The proposed key-point densification component can generate pseudo-point clouds containing target information from monocular images through the distance preference strategy and K-means clustering so as to balance the density distribution and enrich sparse features. Extensive experiments on the KITTI and nuScenes 3D object detection benchmarks show that our KDA3D produces state-of-the-art results while running in near real-time with a low memory footprint.
URL标识	查看原文
语种	英语
内容类型	期刊论文
源URL	[http://ir.ciomp.ac.cn/handle/181722/64636]
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	J. R. Wang,M. Zhu,B. Wang,D. Y. Sun,H. Wei,C. J. Liu and H. T. Nie. KDA3D: Key-Point Densification and Multi-Attention Guidance for 3D Object Detection[J]. Remote Sensing,2020,12(11):27.
APA	J. R. Wang,M. Zhu,B. Wang,D. Y. Sun,H. Wei,C. J. Liu and H. T. Nie.(2020).KDA3D: Key-Point Densification and Multi-Attention Guidance for 3D Object Detection.Remote Sensing,12(11),27.
MLA	J. R. Wang,M. Zhu,B. Wang,D. Y. Sun,H. Wei,C. J. Liu and H. T. Nie."KDA3D: Key-Point Densification and Multi-Attention Guidance for 3D Object Detection".Remote Sensing 12.11(2020):27.