Hybrid Attention-Based 3D Object Detection with Differential Point Clouds

Abstract

Object detection based on point clouds has been widely used for autonomous driving, although how to improve its detection accuracy remains a significant challenge. Foreground points are more critical for 3D object detection than background points; however, most current detection frameworks cannot effectively preserve foreground points. Therefore, this work proposes a hybrid attention-based 3D object detection method with differential point clouds, which we name HA-RCNN. The method differentiates the foreground points from the background ones to preserve the critical information of foreground points. Extensive experiments conducted on the KITTI dataset show that the model outperforms the state-of-the-art methods, especially in recognizing large objects such as cars and cyclists.