AFE-RCNN: Adaptive Feature Enhancement RCNN for 3D Object Detection

Abstract

The point clouds scanned by lidar are generally sparse, which can result in fewer sampling points of objects. To perform precise and effective 3D object detection, it is necessary to improve the feature representation ability to extract more feature information of the object points. Therefore, we propose an adaptive feature enhanced 3D object detection network based on point clouds (AFE-RCNN). AFE-RCNN is a point-voxel integrated network. We first voxelize the raw point clouds and obtain the voxel features through the 3D voxel convolutional neural network. Then, the 3D feature vectors are projected to the 2D bird’s eye view (BEV), and the relationship between the features in both spatial dimension and channel dimension is learned by the proposed residual of dual attention proposal generation module. The high-quality 3D box proposals are generated based on the BEV features and anchor-based approach. Next, we sample key points from raw point clouds to summarize the information of the voxel features, and obtain the key point features by the multi-scale feature extraction module based on adaptive feature adjustment. The neighboring contextual information is integrated into each key point through this module, and the robustness of feature processing is also guaranteed. Lastly, we aggregate the features of the BEV, voxels, and point clouds as the key point features that are used for proposal refinement. In addition, to ensure the correlation among the vertices of the bounding box, we propose a refinement loss function module with vertex associativity. Our AFE-RCNN exhibits comparable performance on the KITTI dataset and Waymo open dataset to state-of-the-art methods. On the KITTI 3D detection benchmark, for the moderate difficulty level of the car and the cyclist classes, the 3D detection mean average precisions of AFE-RCNN can reach 81.53% and 67.50%, respectively.