Technology of Graphic & Image
|
275-279

Ground-aware 3D object detection algorithm

Zhao Xiaonan
Shen Danhong
School of Economics & Management, North University of China, Taiyuan 030051, China

Abstract

To improve the performance of environment perception of autonomous vehicles and enhance the ability of monocular cameras to perceive obstacle 3D and boundary information, this paper proposed a ground-aware 3D object detection algorithm. Based on an optimized CenterNet model, it used DLA as the backbone network to increase the redundant information prediction of 3D bounding box center. According to the ground-aware information of the autonomous driving scenario and combined with the pinhole camera model, it obtained the object 3D center depth information to optimize the deep network learning effect. This paper evaluated the algorithm performance using the KITTI 3D dataset. The results show that the algorithm runs at 20 fps on the basis of ensuring the accuracy of 2D object detection, which meets the real-time requirements of autonomous driving perception. At the same time, compared with the CenterNet model, there are performance improvements of 4.4 and 4.4% in the average orientation score and the bird eye view AP, respectively. Thus, the algorithm can improve the ability of autonomous vehicles to perceive obstacle 3D and boundary information.

Foundation Support

山西省哲学社会科学规划课题(1810900032MZ)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2021.05.0205
Publish at: Application Research of Computers Printed Article, Vol. 39, 2022 No. 1
Section: Technology of Graphic & Image
Pages: 275-279
Serial Number: 1001-3695(2022)01-049-0275-05

Publish History

[2022-01-05] Printed Article

Cite This Article

赵筱楠, 申丹虹. 基于地面先验的3D目标检测算法 [J]. 计算机应用研究, 2022, 39 (1): 275-279. (Zhao Xiaonan, Shen Danhong. Ground-aware 3D object detection algorithm [J]. Application Research of Computers, 2022, 39 (1): 275-279. )

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  • Application Research of Computers Monthly Journal
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Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

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