Dakuan DU, Jianfeng SUN, Yuanxue DING, Peng JIANG, Hailong ZHANG. Small object detection based on GM-APD lidar data fusion[J]. Optics and Precision Engineering, 2023, 31(3): 393
- Optics and Precision Engineering
- Vol. 31, Issue 3, 393 (2023)
Fig. 1. Framework of target detection network
Fig. 2. Structure of FPN
Fig. 3. Structure of CBAM
Fig. 4. Structure of RFB-s
Fig. 5. Structure of DGCNN
Fig. 6. Reconstructed intensity image and range image
Fig. 7. Comparison of detection results on lidar data set
Fig. 8. Comparison of results with or without secondary detection
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Table 1. Details of data set
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Table 2. Software and hardware environment
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Table 3. Precision of different detection networks on lidar intensity image data set
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Table 4. Precision of different detection networks based on intensity and range information
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Table 5. Precision of different methods in ablation experiment
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Table 6. Comparison of detection accuracy of 3D point clouds and 4D point clouds
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