ATPPNet：アテンションに基づく時系列点群予測ネットワーク
ATPPNet: Attention based Temporal Point cloud Prediction Network
LiDARで取得した過去の点群列から将来の点群列を予測するため、Conv-LSTMとチャネル・空間アテンション、3D-CNN分岐を組み合わせたATPPNetを提案し、公開データセットで既存手法を上回る性能を示した。
著者: Kaustab Pal, Aditya Sharma, Avinash Sharma, K. Madhava Krishna
分類: cs.RO
原文アブストラクト
Point cloud prediction is an important yet challenging task in the field of autonomous driving. The goal is to predict future point cloud sequences that maintain object structures while accurately representing their temporal motion. These predicted point clouds help in other subsequent tasks like object trajectory estimation for collision avoidance or estimating locations with the least odometry drift. In this work, we present ATPPNet, a novel architecture that predicts future point cloud sequences given a sequence of previous time step point clouds obtained with LiDAR sensor. ATPPNet leverages Conv-LSTM along with channel-wise and spatial attention dually complemented by a 3D-CNN branch for extracting an enhanced spatio-temporal context to recover high quality fidel predictions of future point clouds. We conduct extensive experiments on publicly available datasets and report impressive performance outperforming the existing methods. We also conduct a thorough ablative study of the proposed architecture and provide an application study that highlights the potential of our model for tasks like odometry estimation.
