Three-dimensional object detection is accurate and lightweight,which is a key part of the perception module of intelligent mobile robots.In this paper,a cone-based multi-mode fusion target detection algorithm F-ResPoint is proposed.It is a lightweight two-stage target detection algorithm,which generates cone point cloud con-taining the target object according to the detection results of two-dimensional targets,and then uses the point cloud detection network built based on Residual-SA module to detect the three-dimensional targets in the cone point cloud.Experimental results show that this method can achieve higher detection accuracy and better real-time per-formance under the premise of lightweight.
关键词
三维目标检测/多模态融合/点云/视锥/轻量化
Key words
3D target detection/multi-modal fusion/point cloud/frustum/lightweight
维普
万方数据