3D Point Cloud Object Detection Method Based on Multi-Scale Dynamic Sparse Voxelization

Abstract

Perception plays a crucial role in ensuring the safety and reliability of autonomous driving systems. However, the recognition and localization of small objects in complex scenarios still pose challenges. In this paper, we propose a point cloud object detection method based on dynamic sparse voxelization to enhance the detection performance of small objects. This method employs a specialized point cloud encoding network to learn and generate pseudo-images from point cloud features. The feature extraction part uses sliding windows and transformer-based methods. Furthermore, multi-scale feature fusion is performed to enhance the granularity of small object information. In this experiment, the term “small object” refers to objects such as cyclists and pedestrians, which have fewer pixels compared to vehicles with more pixels, as well as objects of poorer quality in terms of detection. The experimental results demonstrate that, compared to the PointPillars algorithm and other related algorithms on the KITTI public dataset, the proposed algorithm exhibits improved detection accuracy for cyclist and pedestrian target objects. In particular, there is notable improvement in the detection accuracy of objects in the moderate and hard quality categories, with an overall average increase in accuracy of about 5%.