EFNet: enhancing feature information for 3D object detection in LiDAR point clouds.
J Opt Soc Am A Opt Image Sci Vis
; 41(4): 739-748, 2024 Apr 01.
Article
in En
| MEDLINE
| ID: mdl-38568675
ABSTRACT
With the development of autonomous driving, there has been considerable attention on 3D object detection using LiDAR. Pillar-based LiDAR point cloud detection algorithms are extensively employed in the industry due to their simple structure and high real-time performance. Nevertheless, the pillar-based detection network suffers from significant loss of 3D coordinate information during the feature degradation and extraction process. In the paper, we introduce a novel framework with high performance, termed EFNet. The EFNet uses the Enhancing Pillar Feature Module (EPFM) to provide more accurate representations of features from two directions pillar internal space and pillar external space. Additionally, the Head Up Module (HUM) is utilized in the detection head to integrate multi-scale information and enhance the network's information perception ability. The EFNet achieves impressive results on the nuScenes datasets, namely, 53.3% NDS and 42.4% mAP. Compared to the baseline PointPillars, EFNet improves 8% NDS and 11.9% mAP. The results demonstrate that the proposed framework can effectively improve the network's accuracy while ensuring deployability.
Full text:
1
Collection:
01-internacional
Database:
MEDLINE
Language:
En
Journal:
J Opt Soc Am A Opt Image Sci Vis
Journal subject:
OFTALMOLOGIA
Year:
2024
Document type:
Article
Country of publication:
United States