3DYOLO: Real-time 3D Object Detection in 3D Point Clouds for Autonomous Driving

Abstract

In the recent era, a lot of interest is attracted by the autonomous vehicles which can sense surroundings and navigate without human intervention. Object detection and recognition form a major part of autonomous driving systems. Lidar sensors can be used to capture point clouds of driving environment. Detecting multiple 3D objects in point clouds in real time and defining their boundaries with the help of 3D bounding boxes are critical in motion planning by self driving systems. This paper proposes a LiDAR-based 3D object detection system that operates in real-time, with emphasis on autonomous driving scenarios. A state-of-the-art 2D standard object detector for RGB images, YOLOv4, is used as the base for object detection. The multi-class 3D bounding boxes are generated using a complex regression approach. An Euler-Region-Proposal Network (E-RPN) is used to predict the pose of the object. The proposed model receives point cloud data as input and outputs 3D bounding boxes with classes in real-time. The experiments done on the KITTI benchmark dataset proves that the proposed system outperforms existing methods in terms of accuracy and performance.