An efficient and accurate bev-based camera/lidar 3d object detection algorithm

Lanhua Hou; Xiaosu Xu; Yiqing Yao

doi:10.1117/12.3014990

8 December 2023 An efficient and accurate bev-based camera/lidar 3d object detection algorithm

Lanhua Hou, Xiaosu Xu, Yiqing Yao

Author Affiliations +

Proceedings Volume 12943, International Workshop on Signal Processing and Machine Learning (WSPML 2023); 1294312 (2023) https://doi.org/10.1117/12.3014990
Event: International Workshop on Signal Processing and Machine Learning (WSPML 2023), 2023, Hangzhou, ZJ, China

Abstract

To overcome the limitations of existing algorithms in both efficiency and accuracy, this paper presents an innovative approach for 3D object detection by leveraging a Bird's Eye View (BEV)-based algorithm. Firstly, we introduce a novel sorted matrix decomposition algorithm inspired by the fixed frustum projection and a Hight-compression-based prime extraction method to improve the efficiency of BEV pooing. This approach effectively mitigates the problem of redundant BEV pooling and results in faster process. Secondly, we propose a channel and spatial adaptive fusion algorithm to enhance location accuracy for distant objects. By intelligently fusing BEV-level LiDAR features and camera features, our method achieves precise detection results for objects located at great distances. Finally, we validate the effectiveness of our proposed algorithm in nuScenes dataset, demonstrating the efficiency and accuracy improvements attained by our proposed method. Our approach contributes to advancing the field of 3D object detection through BEV-based camera/LiDAR fusion and offering substantial gains in both efficiency and accuracy.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Lanhua Hou, Xiaosu Xu, and Yiqing Yao "An efficient and accurate bev-based camera/lidar 3d object detection algorithm", Proc. SPIE 12943, International Workshop on Signal Processing and Machine Learning (WSPML 2023), 1294312 (8 December 2023); https://doi.org/10.1117/12.3014990

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
5 PAGES

DOWNLOAD PAPER SAVE TO MY LIBRARY

GET CITATION

RIGHTS & PERMISSIONS

Get copyright permission Get copyright permission on Copyright Marketplace

KEYWORDS

Image fusion

Matrices

Object detection

LIDAR

Cameras

Feature fusion

Detection and tracking algorithms

Show All Keywords

Keywords/Phrases

Search In:

Publication Years