MCF3D: Multi-Stage Complementary Fusion for Multi-sensor 3D Object Detection

doi:10.1109/access.2019.2927012

CORC > 长春光学精密机械与物理研究所 > 中国科学院长春光学精密机械与物理研究所

	MCF3D: Multi-Stage Complementary Fusion for Multi-sensor 3D Object Detection
	J.R.Wang; M.Zhu; D.Y.Sun; B.Wang; W.Gao; H.Wei
刊名	Ieee Access
	2019
卷号	7 页码:90801-90814
关键词	3D object detection,multi-sensor fusion,attention mechanism,autonomous driving,cloud,Computer Science,Engineering,Telecommunications
ISSN号	2169-3536
DOI	10.1109/access.2019.2927012
英文摘要	We present MCF3D, a multi-stage complementary fusion three-dimensional (3D) object detection network for autonomous driving, robot navigation, and virtual reality. This is an end-to-end learnable architecture, which takes both LIDAR point clouds and RGB images as inputs and utilizes a 3D region proposal subnet and second stage detector(s) subnet to achieve high-precision oriented 3D bounding box prediction. To fully exploit the strength of multimodal information, we design a series of fine and targeted fusion methods based on the attention mechanism and prior knowledge, including "pre-fusion," "anchorfusion," and "proposal-fusion." Our proposed RGB-Intensity form encodes the reflection intensity onto the input image to strengthen the representational power. Our designed proposal-element attention module allows the network to be guided to focus more on efficient and critical information with negligible overheads. In addition, we propose a cascade-enhanced detector for small classes, which is more selective against close false positives. The experiments on the challenging KITTI benchmark show that our MCF3D method produces state-of-the-art results while running in near real-time with a low memory footprint.
语种	英语
内容类型	期刊论文
源URL	[http://ir.ciomp.ac.cn/handle/181722/63008]
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	J.R.Wang,M.Zhu,D.Y.Sun,et al. MCF3D: Multi-Stage Complementary Fusion for Multi-sensor 3D Object Detection[J]. Ieee Access,2019,7:90801-90814.
APA	J.R.Wang,M.Zhu,D.Y.Sun,B.Wang,W.Gao,&H.Wei.(2019).MCF3D: Multi-Stage Complementary Fusion for Multi-sensor 3D Object Detection.Ieee Access,7,90801-90814.
MLA	J.R.Wang,et al."MCF3D: Multi-Stage Complementary Fusion for Multi-sensor 3D Object Detection".Ieee Access 7(2019):90801-90814.