Feng Tian, Chao Liu, Fang Liu, Wenwen Jiang, Xin Xu, Ling Zhao. Laser Radar 3D Target Detection Based on Improved PointPillars[J]. Laser & Optoelectronics Progress, 2024, 61(8): 0812007

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- Laser & Optoelectronics Progress
- Vol. 61, Issue 8, 0812007 (2024)

Fig. 1. Network structure

Fig. 2. Structure of the pillar feature network of the original PointPillars model

Fig. 3. Structure of improved pillar encoding network

Fig. 4. Structure of ConvNeXt module

Fig. 5. Structure of backbone network based on ConvNeXt module

Fig. 6. 3D object detection renderings and 2D images of the proposed algorithm on different scenes. (a) Scene one; (b) scene two; (c) scene three; (d) scene four

Fig. 7. Comparison of detection performance between proposed algorithm and PointPillars algorithm: complex scenes

Fig. 8. Comparison of detection performance between proposed algorithm and PointPillars algorithm: long-distance scenes
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Table 1. Comparison of mAP for different algorithms under car category
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Table 2. Comparison of mAP for different algorithms under the pedistrian category
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Table 3. Comparison of mAP for different algorithms under the cyclist category
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Table 4. Results of ablation experiment

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