Adaptive Scale and Correlative Attention PointPillars: An Efficient Real-Time 3D Point Cloud Object Detection Algorithm

Engineering notes

The experimental results on the KITTI 3D object dataset demonstrate that the proposed ASCA-PointPillars algorithm significantly boosts the recognition performance and RS-Aug effectively enhances the training effects on an imbalanced dataset.

Chinese explanation / 中文解读

中文解读待补充：本站会优先为端到端自动驾驶、BEV感知、3D目标检测、轨迹预测、路径规划、LiDAR感知等高价值论文补充中文说明。

Original abstract

Recognizing 3D objects from point clouds is a crucial technology for autonomous vehicles. Nevertheless, LiDAR (Light Detection and Ranging) point clouds are generally sparse, and they provide limited contextual information, resulting in unsatisfactory recognition performance for distant or small objects. Consequently, this article proposes an object recognition algorithm named Adaptive Scale and Correlative Attention PointPillars (ASCA-PointPillars) to address this problem. Firstly, an innovative adaptive scale pillars (ASP) encoding method is proposed, which encodes point clouds using pillars of varying sizes. Secondly, ASCA-PointPillars introduces a feature enhancement mechanism called correlative point attention (CPA) to enhance the feature associations within each pillar. Additionally, a data augmentation algorithm called random sampling data augmentation (RS-Aug) is proposed to solve the class imbalance problem. The experimental results on the KITTI 3D object dataset demonstrate that the proposed ASCA-PointPillars algorithm significantly boosts the recognition performance and RS-Aug effectively enhances the training effects on an imbalanced dataset.

Links and sources

• Official / arXiv page
• PDF from original source

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