汽车工程 ›› 2021, Vol. 43 ›› Issue (4): 492-500.doi: 10.19562/j.chinasae.qcgc.2021.04.006
收稿日期:
2020-08-28
出版日期:
2021-04-25
发布日期:
2021-04-23
通讯作者:
罗玉涛
E-mail:ctytluo@scut.edu.cn
基金资助:
Received:
2020-08-28
Online:
2021-04-25
Published:
2021-04-23
Contact:
Yutao Luo
E-mail:ctytluo@scut.edu.cn
摘要:
针对目前在自动驾驶汽车中,目标检测的点云分割与识别算法的准确率低等问题,提出一种稀疏彩色点云结构,该结构由摄像头采集的图像信息与激光雷达采集的点云信息进行空间匹配与特征叠加后生成。通过改进的PointPillars神经网络算法对融合后的彩色稀疏点云进行运算。实验结果表明,本方法在平均精度上比原算法有较大的提升,尤其是对行人和骑单车人的识别平均精度的提升更为明显,在中等难度下的行人和骑单车人3D检测的平均精度值分别提升13.8%和6.6%,显示了本方法的有效性。
罗玉涛,秦瀚. 基于稀疏彩色点云的自动驾驶汽车3D目标检测方法[J]. 汽车工程, 2021, 43(4): 492-500.
Yutao Luo,Han Qin. 3D Object Detection Method for Autonomous Vehicle Based on Sparse Color Point Cloud[J]. Automotive Engineering, 2021, 43(4): 492-500.
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