High-quality 3D Object Detection Based on Instance-aware Sampling

Abstract

Most existing 3D object detection that is researched on point clouds uses random down-sampling algorithms, which preserve the primary shape and feature information of the point clouds and extract robust features of sampling point clouds to decrease the consumption of computing resources and improve processing inference efficiency. On the other hand, this method of sampling may disregard significant areas within the point clouds, thereby diminishing the precision of detecting comparatively minute entities such as pedestrians and cyclists. In this research, an instance perception-based object detection method is presented that adaptively chooses additional foreground points in response to the properties of smaller objects in the initial point clouds. In addition, it offers end-to-end training and addresses the issue that the typical hand-designed multi-scale grouping receptive fields do not accurately reflect the size of the item. To effectively enhance the recall rate of foreground points, we present an instance-aware algorithm, which relies on farthest point sampling. Specifically, we employ dynamic gating networks to attain instance perception. This approach enables sample candidates to encompass a larger number of foreground objects. Then we use an aggregation layer to efficiently capture robust contextual features with rich spatial information. Through experiments performed on the KITTI dataset, we substantiate the effectiveness of our IAS when compared with current advanced 3D object detection methods. We have achieved a notable enhancement, especially in identifying diminutive objects.