TY - GEN
T1 - BEV-Net
T2 - 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
AU - Liu, Meng
AU - Niu, Jianwei
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - LiDAR-only object detection is essential for autonomous driving systems and is a challenging problem. For the representation of a bird's eye view LiDAR point-cloud, this paper proposes a single-stage object detector. The detector can output classification information and accurate positioning information for multi-category objects. In this paper, the detector's design methods are detailed from a bird's eye view LiDAR point-cloud encoding, network design, data augmentation, etc. The detector was evaluated on three challenging datasets: KITTI, nuScenes and Waymo. The experimental results demonstrated that the proposed detector can accurately achieve object detection tasks and the detection speed can reach 26.9 FPS. Both the precision and the speed can meet the requirements of most autonomous driving scenarios.
AB - LiDAR-only object detection is essential for autonomous driving systems and is a challenging problem. For the representation of a bird's eye view LiDAR point-cloud, this paper proposes a single-stage object detector. The detector can output classification information and accurate positioning information for multi-category objects. In this paper, the detector's design methods are detailed from a bird's eye view LiDAR point-cloud encoding, network design, data augmentation, etc. The detector was evaluated on three challenging datasets: KITTI, nuScenes and Waymo. The experimental results demonstrated that the proposed detector can accurately achieve object detection tasks and the detection speed can reach 26.9 FPS. Both the precision and the speed can meet the requirements of most autonomous driving scenarios.
UR - https://www.scopus.com/pages/publications/85124342861
U2 - 10.1109/IROS51168.2021.9636810
DO - 10.1109/IROS51168.2021.9636810
M3 - 会议稿件
AN - SCOPUS:85124342861
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 5973
EP - 5980
BT - 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 27 September 2021 through 1 October 2021
ER -