Improve 3D object detection by combine image and point data at many scales with ImLiDAR

Improve 3D object detection by combine image and point data at many scales with ImLiDAR

ImLiDAR: Cross-Sensor Dynamic Message Propagation Network for 3D Object Detection
arXiv paper abstract https://arxiv.org/abs/2211.09518
arXiv PDF paper https://arxiv.org/pdf/2211.09518.pdf

LiDAR and camera, as two different sensors, supply geometric (point clouds) and semantic (RGB images) information of 3D scenes.

… challenging for existing methods to fuse data from the two cross sensors, making them complementary for quality 3D object detection (3OD).

… propose ImLiDAR, a new 3OD paradigm to narrow the cross-sensor discrepancies by progressively fusing the multi-scale features of camera Images and LiDAR point clouds … To achieve this …

First, … propose a cross-sensor dynamic message propagation module to combine the best of the multi-scale image and point features.

Second, … raise a direct set prediction problem that allows designing an effective set-based detector to tackle the inconsistency of the classification and localization confidences, and the sensitivity of hand-tuned hyperparameters.

… show clear visual and numerical improvements of … ImLiDAR over twenty-three state-of-the-art 3OD methods.

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I apply innovative technologies like machine learning, computer vision, and physics to further an organization's goals. Am recognized innovator with 66 patents.