scholarly journals Safety-Aware Hardening of 3D Object Detection Neural Network Systems

2020 ◽  
pp. 213-227
Author(s):  
Chih-Hong Cheng
Keyword(s):  
Neural Network ◽  
Object Detection ◽  
Network Systems ◽  
3D Object ◽  
3D Object Detection

Real-Time 3D object detection using improved convolutional neural network based on image-driven point cloud

2021 ◽  
Vol 14 ◽  
Author(s):  
Zhiyong Gao ◽  
Jianhong Xiang
Keyword(s):  
Neural Network ◽  
Object Detection ◽  
Convolutional Neural Network ◽  
Real Time ◽  
Point Cloud ◽  
Point Clouds ◽  
3D Point Cloud ◽  
3D Object ◽  
3D Object Detection ◽  
Instance Segmentation

Background: While detecting the object directly from the 3D point cloud, the natural 3D patterns and invariance of 3D data are often obscure. Objective: In this work, we aimed at studying the 3D object detection from discrete, disordered and sparse 3D point clouds. Methods: The CNN is composed of the frustum sequence module, 3D instance segmentation module S-NET, 3D point cloud transformation module T-NET, and 3D boundary box estimation module E-NET. The search space of the object is determined by the frustum sequence module. The instance segmentation of the point cloud is performed by the 3D instance segmentation module. The 3D coordinates of the object are confirmed by the transformation module and the 3D bounding box estimation module. Results: Evaluated on KITTI benchmark dataset, our method outperforms the state of the art by remarkable margins while having real-time capability. Conclusion: We achieve real-time 3D object detection by proposing an improved convolutional neural network (CNN) based on image-driven point clouds.

scholarly journals 3D Object Detection Algorithm for Panoramic Images With Multi-Scale Convolutional Neural Network

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 171461-171470
Author(s):  
Dianwei Wang ◽  
Yanhui He ◽  
Ying Liu ◽  
Daxiang Li ◽  
Shiqian Wu ◽  
...  
Keyword(s):  
Neural Network ◽  
Object Detection ◽  
Convolutional Neural Network ◽  
Detection Algorithm ◽  
3D Object ◽  
Multi Scale ◽  
Panoramic Images ◽  
3D Object Detection

scholarly journals One-Stage Multi-Sensor Data Fusion Convolutional Neural Network for 3D Object Detection

Sensors ◽  
2019 ◽  
Vol 19 (6) ◽  
pp. 1434 ◽  
Author(s):  
Minle Li ◽  
Yihua Hu ◽  
Nanxiang Zhao ◽  
Qishu Qian
Keyword(s):  
Neural Network ◽  
Feature Extraction ◽  
Data Fusion ◽  
Object Detection ◽  
Sensor Data ◽  
3D Object ◽  
Sensor Data Fusion ◽  
One Stage ◽  
Multi Sensor Data Fusion ◽  
3D Object Detection

Three-dimensional (3D) object detection has important applications in robotics, automatic loading, automatic driving and other scenarios. With the improvement of devices, people can collect multi-sensor/multimodal data from a variety of sensors such as Lidar and cameras. In order to make full use of various information advantages and improve the performance of object detection, we proposed a Complex-Retina network, a convolution neural network for 3D object detection based on multi-sensor data fusion. Firstly, a unified architecture with two feature extraction networks was designed, and the feature extraction of point clouds and images from different sensors realized synchronously. Then, we set a series of 3D anchors and projected them to the feature maps, which were cropped into 2D anchors with the same size and fused together. Finally, the object classification and 3D bounding box regression were carried out on the multipath of fully connected layers. The proposed network is a one-stage convolution neural network, which achieves the balance between the accuracy and speed of object detection. The experiments on KITTI datasets show that the proposed network is superior to the contrast algorithms in average precision (AP) and time consumption, which shows the effectiveness of the proposed network.

scholarly journals Convolutional Neural Network Using for Multi-Sensor 3D Object Detection

2021 ◽  
Vol 1979 (1) ◽  
pp. 012020
Author(s):  
Gadug Sudhansu ◽  
A N Mohamed Zabeeulla ◽  
M N Nachappa
Keyword(s):  
Neural Network ◽  
Object Detection ◽  
Convolutional Neural Network ◽  
3D Object ◽  
3D Object Detection

scholarly journals Multi-Channel Convolutional Neural Network Based 3D Object Detection for Indoor Robot Environmental Perception

Sensors ◽  
2019 ◽  
Vol 19 (4) ◽  
pp. 893 ◽  
Author(s):  
Li Wang ◽  
Ruifeng Li ◽  
Hezi Shi ◽  
Jingwen Sun ◽  
Lijun Zhao ◽  
...  
Keyword(s):  
Neural Network ◽  
Object Detection ◽  
Convolutional Neural Network ◽  
Environmental Perception ◽  
Service Robots ◽  
Service Robot ◽  
Abstract Concepts ◽  
3D Object ◽  
Long Time ◽  
3D Object Detection

Environmental perception is a vital feature for service robots when working in an indoor environment for a long time. The general 3D reconstruction is a low-level geometric information description that cannot convey semantics. In contrast, higher level perception similar to humans requires more abstract concepts, such as objects and scenes. Moreover, the 2D object detection based on images always fails to provide the actual position and size of an object, which is quite important for a robot’s operation. In this paper, we focus on the 3D object detection to regress the object’s category, 3D size, and spatial position through a convolutional neural network (CNN). We propose a multi-channel CNN for 3D object detection, which fuses three input channels including RGB, depth, and bird’s eye view (BEV) images. We also propose a method to generate 3D proposals based on 2D ones in the RGB image and semantic prior. Training and test are conducted on the modified NYU V2 dataset and SUN RGB-D dataset in order to verify the effectiveness of the algorithm. We also carry out the actual experiments in a service robot to utilize the proposed 3D object detection method to enhance the environmental perception of the robot.

A New Monocular 3D Object Detection with Neural Network

2018 ◽  
pp. 174-185
Author(s):  
Weijie Hong ◽  
Yiguang Liu ◽  
Yunan Zheng ◽  
Ying Wang ◽  
Xuelei Shi
Keyword(s):  
Neural Network ◽  
Object Detection ◽  
3D Object ◽  
3D Object Detection
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