基于几何增强与注意力融合的三维目标检测
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1.新疆大学智能制造现代产业学院(机械工程学院) 乌鲁木齐 830047; 2.上海交通大学南加州大学文化创意产业学院 上海 200240

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TP391.4;TN911;TN95

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Geometric enhancement and attention fusion for 3D object detection
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1.College of Intelligent Manufacturing and Modern Industry (School of Mechanical Engineering), Xinjiang University, Urumqi 830047, China; 2.USC-Shanghai Jiao Tong University Institute of Cultural and Creative Industries, Shanghai 200240, China

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    摘要:

    针对伪点云存在的空间分布不均问题,特别是近距离点密度过高而远距离仍相对稀疏,容易导致候选框特征不同距离表征不一致,从而影响整体检测性能。为了解决该问题,提出几何信息增强模块(geometric enhancement module,GEM)与自适应区域注意力融合(adaptive region-of-interest attention fusion,ARAF)模块。GEM在重采样阶段采用分区差异化处理,对近距离区域进行体素级下采样以压缩冗余点并降低噪声,同时在远距离区域保留稀疏点分布以维持关键几何结构。ARAF在感兴趣区域( region of interest,RoI)层面建模区域重要性,预测权重并对真实点云与伪点云特征进行自适应加权融合,使网络可随目标距离动态调整关注远距离点云,从而缓解远距离特征表达能力不足导致的性能下降。KITTI(Karlsruhe Institute of Technology and Toyota Technological Institute at Chicago)实验表明,该方法在3项指标上分别提升3.19%、1.90%和1.75%。

    Abstract:

    To address the non-uniform spatial distribution of pseudo point clouds, where point density is excessively high at close range but remains relatively sparse at long range, the resulting distance-dependent disparity can cause inconsistent proposal feature representations across different ranges and consequently degrade overall detection performance. To mitigate this issue, we introduce two components, namely geometric enhancement module(GEM) and adaptive region-of-interest attention fusion (ARAF) module. In GEM, a region-wise resampling strategy is adopted: voxel-level downsampling is applied to near-range regions to remove redundant points and suppress noise, while the sparse point distribution in far-range regions is preserved to maintain essential geometric structures. In ARAF, region importance is modeled at the region of interest (RoI) level by predicting adaptive weights and performing weighted fusion of features from real point clouds and pseudo point clouds. This design enables the network to dynamically emphasize far-range point cloud information according to object distance, thereby alleviating performance degradation caused by insufficient feature expressiveness in long-range scenarios. Experiments on the KITTI benchmark show that the proposed method improves the three evaluation metrics by 3.19%, 1.90% and 1.75%, respectively.

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刘辉,袁亮,肖文东.基于几何增强与注意力融合的三维目标检测[J].电子测量技术,2026,49(15):185-192

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  • 在线发布日期: 2026-10-23
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