3D検出arXiv:1611.08069
点群中の車両検出のための3次元全畳み込みネットワーク
3D Fully Convolutional Network for Vehicle Detection in Point Cloud
2次元の全畳み込みネットワークによる物体検出手法を3次元に拡張し、LiDAR点群からの車両検出に適用した。KITTIデータセットで従来の点群ベース手法を大きく上回る性能を示した。
著者: Bo Li
分類: cs.CV, cs.RO
原文アブストラクト
2D fully convolutional network has been recently successfully applied to object detection from images. In this paper, we extend the fully convolutional network based detection techniques to 3D and apply it to point cloud data. The proposed approach is verified on the task of vehicle detection from lidar point cloud for autonomous driving. Experiments on the KITTI dataset shows a significant performance improvement over the previous point cloud based detection approaches.
