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3D Vehicle Detection With RSU LiDAR for Autonomous Mine | |
Wang, Guojun1; Wu, Jian1,2; Xu, Tong2; Tian, Bin3,4![]() | |
发表期刊 | IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
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ISSN | 0018-9545 |
2021-01 | |
卷号 | 70期号:1页码:344-355 |
摘要 | With the development of intelligent and connected vehicles, RSU (roadside unit) sensors are playing an increasingly important role for environment perception. For vehicle detection in autonomous mine, lack of diversity data on RSU LiDAR limits the application of deep learning based methods. To solve this issue, a voxel-based background filtering module is introduced into 3D object detectors for vehicle detection with RSU LiDAR in mine environments. The proposed background filtering method models average height and the number of points for each voxel as Gaussian distribution to generate a background table. To address the impact of the false negative points of the background filtering module, we also propose a multivariate Gaussian loss to model bounding box uncertainty. The predicted covariances between variates help to learn the relationship between the missed parts and the visible ones. Besides, a background filtering based data augmentation method for vehicle detection is also proposed in this paper. Three RSU LiDAR datasets with different terrains in the BaoLi mine area are used for comprehensive experiment evaluations. Experiments show that the proposed background filtering module and multivariate Gaussian loss can significantly improve the generalization ability and performance of several state-of-the-art 3D detectors on different terrain data. Moreover, most background voxels are filtered out, the inference time of the 3D detectors is about 2x faster. Besides, the effectiveness of the proposed data augmentation method is also demonstrated. |
关键词 | Laser radar Three-dimensional displays Filtering Vehicle detection Detectors Roads Feature extraction Background filtering 3D object detection deep learning roadside LiDAR point cloud |
DOI | 10.1109/TVT.2020.3048985 |
收录类别 | SCI |
语种 | 英语 |
资助项目 | Key-Area Research and Development Program of Guangdong Province[2020B090921003] ; National Natural Science Foundation of China[61503380] ; National Natural Science Foundation of China[61773381] ; Intel Collaborative Research Institute for Intelligent and Automated Connected Vehicles (ICRI-IACV) |
项目资助者 | Key-Area Research and Development Program of Guangdong Province ; National Natural Science Foundation of China ; Intel Collaborative Research Institute for Intelligent and Automated Connected Vehicles (ICRI-IACV) |
WOS研究方向 | Engineering ; Telecommunications ; Transportation |
WOS类目 | Engineering, Electrical & Electronic ; Telecommunications ; Transportation Science & Technology |
WOS记录号 | WOS:000617762400026 |
出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
七大方向——子方向分类 | 人工智能+交通 |
国重实验室规划方向分类 | 环境多维感知 |
是否有论文关联数据集需要存交 | 否 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/43260 |
专题 | 多模态人工智能系统全国重点实验室_平行智能技术与系统团队 |
通讯作者 | Tian, Bin |
作者单位 | 1.Jilin Univ, State Key Lab Automot Simulat & Control, Changchun 130022, Peoples R China 2.Waytous Inc, Beijing 100080, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 4.Qingdao Acad Intelligent Ind, Qingdao 266109, Shandong, Peoples R China |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Wang, Guojun,Wu, Jian,Xu, Tong,et al. 3D Vehicle Detection With RSU LiDAR for Autonomous Mine[J]. IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY,2021,70(1):344-355. |
APA | Wang, Guojun,Wu, Jian,Xu, Tong,&Tian, Bin.(2021).3D Vehicle Detection With RSU LiDAR for Autonomous Mine.IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY,70(1),344-355. |
MLA | Wang, Guojun,et al."3D Vehicle Detection With RSU LiDAR for Autonomous Mine".IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY 70.1(2021):344-355. |
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