2021 IEEE International Conference on Image Processing

19-22 September 2021 • Anchorage, Alaska, USA

Imaging Without Borders

2021 IEEE International Conference on Image Processing

19-22 September 2021 • Anchorage, Alaska, USA

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Paper Detail

Paper ID3D-2.4
Paper Title PLNL-3DSSD: PART-AWARE 3D SINGLE STAGE DETECTOR USING LOCAL AND NON-LOCAL ATTENTION
Authors Haizhuang Liu, Huimin Ma, Yanxian Chen, University of Science and Technology Beijing, China; Xi Li, Tsinghua University, China; Tianyu Hu, University of Science and Technology Beijing, China
Session3D-2: Point Cloud Processing 2
LocationArea J
Session Time:Wednesday, 22 September, 08:00 - 09:30
Presentation Time:Wednesday, 22 September, 08:00 - 09:30
Presentation Poster
Topic Three-Dimensional Image and Video Processing: Point cloud processing
IEEE Xplore Open Preview  Click here to view in IEEE Xplore
Abstract 3D object detection in the real crowded scene is still a challenging task due to occlusion and density change. We propose a part-aware 3D single-stage detector with local and non-local attention (PLNL-3DSSD) to fully use part information and inter-object relation. A primary part feature fusion is proposed for encoding the entire box feature vector by introducing semantic parts dividing. We develop a parallel part branch for robust and accurate object detection. We also develop local and non-local attention in set abstraction for enhancing data flow transfer between objects. Our method ranks second in single-stage 3D object detector on the KITTI 3D car detection benchmark while ensuring satisfactory efficiency.