Intelligent 3D Objects Classification for Vehicular Ad Hoc Network Based on Lidar and Deep Learning Approaches

Abstract

Works that use point cloud avoid wasting time and cost of collection, using simulators and datasets available in the literature. In this way, there is access to an unlimited and organized amount of point clouds, an ideal setting for deep learning networks and Vehicular ad hoc networks (VANETs). However, models trained with synthetic data present problems when applied to real-world data.This work proposes the use of deep learning in the recognition of 3D objects captured with a Light Detection and Ranging (LIDAR), including a pre-processing stage. In addition, it is proposed two datasets, a real-world and a syntetic; each dataset includes three classes. A method of pre-processing is proposed to circumvent the distribution discrepancies of the proposed datasets and the existing datasets from literature, such as ModelNet. We use deep learning with the PointNet method, as it supports raw data from point clouds as input to the network. We performed three evaluation approaches: training and testing steps with the proposed datasets using <xref ref-type="disp-formula" rid="deqn1" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">(1)</xref> Lidar3DNetV1, which is a proposed network in this paper, <xref ref-type="disp-formula" rid="deqn2" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">(2)</xref> PointNet, and (3) classification of ModelNet datasets using Lidar3DNetV1. The proposed network achieved 98.33% of accuracy and a testing time of <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$88~\mu \text{s}$ </tex-math></inline-formula> in the synthetic dataset, while in the real-world dataset, the network reached 98.48% and <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$145~\mu \text{s}$ </tex-math></inline-formula> in accuracy and testing time, respectively.