通过Voxel-to-keypoint与keypoint-to-grid这两个point-voxel特征交互的过程,显著增强了PV-RCNN的结构多样性,使其可以从点云数据中学习更多样性的特征,来提升最终的3D检测性能。算法在仅使用LiDAR传感器的setting下,在自动驾驶领域Waymo Open Challenge点云挑战赛中取得了(所有不限传感器算法榜单)三项亚军、Lidar单模态...
得到Voxel-wise Feature,然后经过3D Convolutional Middle Layers进一步抽象特征(增大感受野并学习几何空间表示),最后使用RPN(Region Proposal Network)对物体进行分类检测与位置回归。
To solve these problems, this paper presents a novel point-voxel dual stream Transformer (PVDST) network, which combines the voxel-based convolution and point-based local attention, extracting the local and contextual features of point clouds simultaneously. To reduce the parameters and computation ...
To address this limitation, we propose PVTransformer: a transformer-based point-to-voxel architecture for 3D detection. Our key idea is to replace the PointNet pooling operation with an attention module, leading to a better point-to-voxel aggregation function. Our design respects the permutation ...
voxel_size [0.16, 0.16, 4] voxel尺寸 9.训练流程介绍 1)数据准备 接下来以KITTI数据集为例,训练CenterPoint模型 首先请在官网进行下载相关数据 Download Velodyne point clouds, if you want to use laser information (29 GB) training labels of object data set (5 MB) camera calibration matr...
但是正当我跃跃欲试的时候,看见一篇叫做3DSSD[3]的文章,里面提到:However, it is not optimal to directly apply center-ness labels to the 3D detection task. Given that all LiDAR points are located on surfaces of objects, the center-ness labels are all very small and similar. It is almost ...
The window-based point-voxel branch concentrates on local feature learning while integrating voxel-level information within each window. This unique design enables the model to jointly extract local details and regional structures efficiently and provides an effective and efficient solution for m...
几篇论文实现代码:《PV-RAFT: Point-Voxel Correlation Fields for Scene Flow Estimation of Point Clouds》(CVPR 2021) GitHub:https:// github.com/weiyithu/PV-RAFT [fig2] 《Global2Local: Efficient Stru...
Point-to-Voxel Knowledge Distillation for LiDAR Semantic Segmentation (CVPR 2022) - cardwing/Codes-for-PVKD
@inproceedings{yang2023pvtssd, author = {Yang, Honghui and Wang, Wenxiao and Chen, Minghao and Lin, Binbin and He, Tong and Chen, Hua and He, Xiaofei and Ouyang, Wanli}, title = {PVT-SSD: Single-Stage 3D Object Detector With Point-Voxel Transformer}, booktitle = {Proceedings of the...