This paper investigates 3D object detection from point clouds scene recovered by lidar and proposes a novel semi-anchor-free 3D object detector. Compared with the point-based method, the voxel-based method has more advantages in feature extraction and avoids the complicated neighborhood search. However, voxel-based methods usually require to preset a large number of anchors related to the objects to be detected, which brings the computational cost to the model inference. This paper introduces a framework with the semi-anchor-free mechanism that utilizes the voxel-based method to aid the learning of point features and achieves anchor-free performance in inference. Actually, feature learning still needs to be strengthened for point cloud encoding, and this paper designs a Directional Slice Attention to augment the discriminability of features. Additionally, the region of interest characterization based on Symmetric Feature Propagation is proposed in this paper to alleviate the obstacle brought by the incomplete scanning of objects in autonomous driving scenarios. Extensive experiments on both the KITTI dataset and Waymo Open dataset demonstrate the superiority of 3SNet over state-of-the-art methods.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    3SNet: Semi-Anchor-Free 3D Object Detector With Slice Attention and Symmetric Features Propagation


    Contributors:
    Peng, Hao (author) / Tong, Guofeng (author) / Shao, Yuyuan (author)

    Published in:

    Publication date :

    2023-12-01


    Size :

    4655393 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    ElDet: An Anchor-Free General Ellipse Object Detector

    Wang, Tianhao / Lu, Changsheng / Shao, Ming et al. | British Library Conference Proceedings | 2023


    CenterNet3D: An Anchor Free Object Detector for Point Cloud

    Wang, Guojun / Wu, Jian / Tian, Bin et al. | IEEE | 2022


    Vehicle Detection in Indian Traffic Using an Anchor-Free Object Detector

    Deshmukh, Prashant / Kadha, Vijayakumar / Rayasam, Krishna Chaitanya et al. | Springer Verlag | 2023


    Axially symmetric pulse propagation in semi-infinite hollow cylinders

    KOHL, T. / DATTA, S. K. / SHAH, A. H. | AIAA | 1992


    Axially symmetric pulse propagation in semi-infinite hollow cylinders

    Kohl, T. / Datta, S. K. / Shah, A. H. | NTRS | 1992