Point clouds have been a popular representation to describe 3D environments for autonomous driving applications. Despite accurate depth information, sparsity of points results in difficulties in extracting sufficient features from vulnerable objects of small sizes. One solution is leveraging self-attention networks to build long-range connections between similar objects. Another method is using generative models to estimate the complete shape of objects. Both approaches introduce large memory consumption and extra complexity to the models while the geometric characteristics of objects are overlooked. To overcome this problem, this paper proposes Point Augmentation (PA)-RCNN, focusing on small object detection by generating efficient complementary features without trainable parameters. Specifically, 3D points are sampled with the guidance of object proposals and encoded through the 3D grid-based feature aggregation to produce localised 3D voxel properties. Such voxel attributes are fed to the pooling module with the aid of fictional points, which are transformed from sampled points considering geometric symmetry. Experimental results on Waymo Open Dataset and KITTI dataset show a superior advantage in the detection of distant and small objects in comparison with existing state-of-the-art methods.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Improving 3D Vulnerable Road User Detection With Point Augmentation


    Contributors:
    Lu, Weihao (author) / Zhao, Dezong (author) / Premebida, Cristiano (author) / Zhang, Li (author) / Zhao, Wenjing (author) / Tian, Daxin (author)

    Published in:

    Publication date :

    2023-05-01


    Size :

    7929962 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Energy absorbing material for improving vulnerable road user performance of vehicles

    VS RAJAMANICKAM / KINILA VIVEKANANDA / TRIPATHI BISWAJIT et al. | European Patent Office | 2024

    Free access

    Improving attitudes towards vulnerable road users

    Crundall, David / van Loon, Editha | Elsevier | 2023


    Vulnerable road user safety in APROSYS

    Hardy, Roger | Tema Archive | 2007


    Vulnerable Road User needs towards ITS

    Daniel Bell / Ralf Risser | DOAJ | 2017

    Free access