3D point cloud target detection based on pseudo segmentation for autonomous driving

Zixuan Zeng; Xi Luo; Jun Liu; Jules Karangwa

doi:10.1117/12.2691803

21 August 2023 3D point cloud target detection based on pseudo segmentation for autonomous driving

Zixuan Zeng, Xi Luo, Jun Liu, Jules Karangwa

Author Affiliations +

Proceedings Volume 12783, International Conference on Images, Signals, and Computing (ICISC 2023); 1278307 (2023) https://doi.org/10.1117/12.2691803
Event: International Conference on Images, Signals, and Computing (ICISC2023), 2023, Chengdu, China

Abstract

Object detection plays an important role in autonomous driving. In the past decades, many object detection methods relied on 2D images, losing spatial information due to projecting 3D space into 2D space. Recently, LiDAR has become a popular sensor for 3D point cloud target detection. This paper proposes a new RCNN detection framework based on pseudo segmentation (PS-RCNN). This model is designed to achieve accurate and efficient detection on point cloud by transmitting feature information reversely. The information transmission is supervised by the semantic segmentation task. In order to reduce the difficulty in labeling, a novel algorithm is designed to generate segmentation pseudo-labels. Experimental results conducted on KITTI Dataset and Waymo Open Dataset demonstrate that our model outperforms its counterparts for detecting small objects with a balance between accuracy and efficiency.

Citation Download Citation

Zixuan Zeng, Xi Luo, Jun Liu, and Jules Karangwa "3D point cloud target detection based on pseudo segmentation for autonomous driving", Proc. SPIE 12783, International Conference on Images, Signals, and Computing (ICISC 2023), 1278307 (21 August 2023); https://doi.org/10.1117/12.2691803

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

;

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $17.00

Non-members: $21.00 ADD TO CART

PROCEEDINGS
8 PAGES

DOWNLOAD PAPER SAVE TO MY LIBRARY

GET CITATION

RIGHTS & PERMISSIONS

Get copyright permission Get copyright permission on Copyright Marketplace

KEYWORDS

Voxels

Object detection

Point clouds

Semantics

Autonomous driving

Convolution

Target detection

Keywords/Phrases

Search In:

Publication Years