SPBA-Net point cloud object detection with sparse attention and box aligning
Abstract Object detection in point clouds is essential for various applications, including autonomous navigation, household robots, and augmented/virtual reality. However, during voxelization and Bird’s Eye View transformation, local point cloud data often remains sparse due to non-target areas and...
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| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Nature Portfolio
2024-11-01
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| Series: | Scientific Reports |
| Subjects: | |
| Online Access: | https://doi.org/10.1038/s41598-024-77097-z |
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| Summary: | Abstract Object detection in point clouds is essential for various applications, including autonomous navigation, household robots, and augmented/virtual reality. However, during voxelization and Bird’s Eye View transformation, local point cloud data often remains sparse due to non-target areas and noise points, posing a significant challenge for feature extraction. In this paper, we propose a novel mechanism named Keypoint Guided Sparse Attention (KGSA) to enhance the semantic information of point clouds by calculating Euclidean distances between selected keypoints and others. Additionally, we introduce Instance-wise Box Aligning, a method for expanding predicted boxes and clustering the points within them to achieve precise alignment between predicted bounding boxes and ground-truth targets. Experimental results demonstrate the superiority of our proposed SPBA-Net in 3D object detection on point clouds compared to other state-of-the-art methods.The datasets used and/or analysed during the current study available from the corresponding author on reasonable request. |
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| ISSN: | 2045-2322 |