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CloudFort: Enhancing Robustness of 3D Point Cloud Classification Against Backdoor Attacks via Spatial Partitioning and Ensemble Prediction CloudFort:通过空间划分和集合预测增强三维点云分类对后门攻击的鲁棒性
IF 1.3 4区 计算机科学 Q4 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2025-11-18 DOI: 10.1049/cvi2.70047
Wenhao Lan, Yijun Yang, Haihua Shen, Shan Li

The increasing adoption of 3D point cloud data in various applications, such as autonomous vehicles, robotics and virtual reality, has brought about significant advancements in object recognition and scene understanding. However, this progress is accompanied by new security challenges, particularly in the form of backdoor attacks. These attacks involve inserting malicious information into the training data of machine learning models, potentially compromising the model's behaviour. In this paper, we propose CloudFort, a novel defence mechanism designed to enhance the robustness of 3D point cloud classifiers against backdoor attacks. CloudFort leverages spatial partitioning and ensemble prediction techniques to effectively mitigate the impact of backdoor triggers while preserving the model's performance on clean data. We evaluate the effectiveness of CloudFort through extensive experiments, demonstrating its strong resilience against the point cloud backdoor attack (PCBA). Our results show that CloudFort significantly enhances the security of 3D point cloud classification models without compromising their accuracy on benign samples. Furthermore, we explore the limitations of CloudFort and discuss potential avenues for future research in the field of 3D point cloud security. The proposed defence mechanism represents a significant step towards ensuring the trustworthiness and reliability of point-cloud-based systems in real-world applications.

在自动驾驶汽车、机器人和虚拟现实等各种应用中越来越多地采用3D点云数据,这在物体识别和场景理解方面取得了重大进展。然而,这种进步伴随着新的安全挑战,特别是后门攻击的形式。这些攻击包括将恶意信息插入机器学习模型的训练数据中,从而可能危及模型的行为。在本文中,我们提出了一种新的防御机制CloudFort,旨在增强3D点云分类器对后门攻击的鲁棒性。CloudFort利用空间分区和集成预测技术来有效减轻后门触发器的影响,同时保持模型在干净数据上的性能。我们通过广泛的实验评估了CloudFort的有效性,证明了其对点云后门攻击(PCBA)的强大弹性。我们的研究结果表明,CloudFort显著提高了3D点云分类模型的安全性,而不会影响其在良性样本上的准确性。此外,我们探讨了CloudFort的局限性,并讨论了3D点云安全领域未来研究的潜在途径。所提出的防御机制是确保基于点云的系统在实际应用中的可信度和可靠性的重要一步。
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引用次数: 0
ShipsMOT: A Comprehensive Benchmark and Framework for Multiobject Tracking of Ships ShipsMOT:船舶多目标跟踪的综合基准和框架
IF 1.3 4区 计算机科学 Q4 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2025-10-02 DOI: 10.1049/cvi2.70042
Fang Luo, Pengju Jiang, George To Sum Ho, Wenjing Zeng

Multiobject tracking of ships is crucial for various applications, such as maritime security and the development of ship autopilot systems. However, existing ship visual datasets primarily focus on ship detection tasks, lacking a fully open-source dataset for multiobject tracking research. Furthermore, current methods often struggle with extracting appearance features under complex sea conditions, varying scales and different ship types, affecting tracking precision. To address these issues, we propose ShipsMOT, a new benchmark dataset containing 121 video sequences with an average of 15.45 s per sequence, covering 15 distinct ship types and a total of 237,999 annotated bounding boxes. Additionally, we propose JDR-CSTrack, a ship multiobject tracking framework that improves feature extraction at different scales by optimising a joint detection and Re-ID network. JDR-CSTrack utilises the fusion of appearance and motion features for multilevel data association, thereby minimising track loss and ID switches. Experimental results confirm that ShipsMOT can serve as a benchmark for future research in ship multiobject tracking and validate the superiority of the proposed JDR-CSTrack framework. The dataset and code can be found on https://github.com/jpj0916/ShipsMOT.

船舶的多目标跟踪对于各种应用至关重要,例如海上安全和船舶自动驾驶系统的开发。然而,现有的船舶视觉数据集主要集中在船舶检测任务上,缺乏一个完全开源的多目标跟踪研究数据集。此外,目前的方法往往难以在复杂的海况、不同的尺度和不同的船型下提取外观特征,影响了跟踪精度。为了解决这些问题,我们提出了ShipsMOT,这是一个新的基准数据集,包含121个视频序列,每个序列平均15.45秒,涵盖15种不同的船舶类型和总共237,999个带注释的边界框。此外,我们提出了JDR-CSTrack,这是一种船舶多目标跟踪框架,通过优化联合检测和Re-ID网络来改进不同尺度下的特征提取。JDR-CSTrack利用外观和运动特征的融合进行多级数据关联,从而最大限度地减少轨道损失和ID切换。实验结果表明,ShipsMOT可以作为舰船多目标跟踪研究的基准,并验证了所提出的JDR-CSTrack框架的优越性。数据集和代码可以在https://github.com/jpj0916/ShipsMOT上找到。
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引用次数: 0
EIRN: A Method for Emotion Recognition Based on Micro-Expressions 基于微表情的情感识别方法
IF 1.3 4区 计算机科学 Q4 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2025-09-26 DOI: 10.1049/cvi2.70044
Genlang Chen, Han Zhou, Yufeng Chen, Jiajian Zhang, Wenwen Shen

Micro-expressions are involuntary facial movements that reveal a person's true emotions when attempting to conceal them. These expressions hold significant potential for various applications. However, due to their brief duration and subtle manifestation, detailed features are often obscured by redundant information, making micro-expression recognition challenging. Previous studies have primarily relied on convolutional neural networks (CNNs) to process high-resolution images or optical flow features, but the complexity of deep networks often introduces redundancy and leads to overfitting. In this paper, we propose EIRN, a novel method for micro-expression recognition. Unlike conventional approaches, EIRN explicitly separates facial features of different granularities, using shallow networks to extract sparse features from low-resolution greyscale images, while treating onset–apex pairs as Siamese samples and employing a Siamese neural network (SNN) to extract dense features from high-resolution counterparts. These multigranularity features are then integrated for accurate classification. To mitigate overfitting in fine-grained feature extraction by the SNN, we introduce an attention module tailored to enhance crucial feature representation from both onset and apex frames during training. Experimental results on single and composite datasets demonstrate the effectiveness of our approach and its potential for real-world applications.

微表情是一种不自觉的面部动作,它揭示了一个人试图隐藏的真实情绪。这些表达式在各种应用中具有巨大的潜力。然而,由于微表情持续时间短,表现形式微妙,细节特征往往被冗余信息所掩盖,给微表情识别带来了挑战。以前的研究主要依靠卷积神经网络(cnn)来处理高分辨率图像或光流特征,但深度网络的复杂性往往会引入冗余并导致过拟合。本文提出了一种新的微表情识别方法EIRN。与传统方法不同,EIRN明确分离不同粒度的面部特征,使用浅网络从低分辨率灰度图像中提取稀疏特征,同时将起尖对作为暹罗样本,并使用暹罗神经网络(SNN)从高分辨率图像中提取密集特征。然后集成这些多粒度特征以进行准确分类。为了减轻SNN在细粒度特征提取中的过拟合,我们引入了一个定制的注意力模块,以增强训练过程中起始帧和顶点帧的关键特征表示。在单一和复合数据集上的实验结果证明了我们的方法的有效性及其在实际应用中的潜力。
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引用次数: 0
Frequency Domain Adaptive Filters in Vision Transformers for Small-Scale Datasets 小尺度数据集视觉变压器的频域自适应滤波器
IF 1.3 4区 计算机科学 Q4 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2025-09-18 DOI: 10.1049/cvi2.70043
Oscar Ondeng, Peter Akuon, Heywood Ouma

Transformers have achieved remarkable success in computer vision, but their reliance on self-attention mechanisms poses challenges for small-scale datasets due to high computational demands and data requirements. This paper introduces the Multi-Head Adaptive Filter Frequency Vision Transformer (MAF-FViT), a Vision Transformer model that replaces self-attention with frequency-domain adaptive filters. MAF-FViT leverages multi-head adaptive filtering in the frequency domain to capture essential features with reduced computational complexity, providing an efficient alternative for vision tasks on limited data. Training is carried out from scratch without the need for pretraining on large-scale datasets. The proposed MAF-FViT model demonstrates strong performance on various image classification tasks, achieving competitive accuracy with a lower parameter count and faster processing times compared to self-attention-based models and other models employing alternative token mixers. The multi-head adaptive filters enable the model to capture complex image features effectively, preserving high classification accuracy while minimising computational load. The results demonstrate that frequency-domain adaptive filters offer an effective alternative to self-attention, enabling competitive performance on small-scale datasets while reducing training time and memory requirements. MAF-FViT opens avenues for resource-efficient transformer models in vision applications, making it a promising solution for settings constrained by data or computational resources.

变形金刚在计算机视觉方面取得了显著的成功,但由于对计算量和数据要求高,它们对自关注机制的依赖给小规模数据集带来了挑战。本文介绍了一种用频域自适应滤波器代替自注意的视觉变压器——多头自适应滤波频视变压器(MAF-FViT)。MAF-FViT利用频域的多头自适应滤波来捕获基本特征,降低了计算复杂度,为有限数据的视觉任务提供了有效的替代方案。训练是从头开始进行的,不需要在大规模数据集上进行预训练。所提出的MAF-FViT模型在各种图像分类任务中表现出强大的性能,与基于自注意的模型和使用替代令牌混合器的其他模型相比,该模型以更少的参数计数和更快的处理时间实现了具有竞争力的准确性。多头自适应滤波器使模型能够有效地捕获复杂的图像特征,在最小化计算负荷的同时保持较高的分类精度。结果表明,频域自适应滤波器为自关注提供了一种有效的替代方案,在减少训练时间和内存要求的同时,在小规模数据集上实现了具有竞争力的性能。MAF-FViT为视觉应用中的资源高效变压器模型开辟了道路,使其成为受数据或计算资源限制的设置的有前途的解决方案。
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引用次数: 0
Large Language Model-Based Spatio-Temporal Semantic Enhancement for Skeleton Action Understanding 基于大语言模型的骨架动作理解时空语义增强
IF 1.3 4区 计算机科学 Q4 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2025-09-14 DOI: 10.1049/cvi2.70041
Ran Wei, Hui Jie Zhang, Chang Cao, Fang Zhang, Jun Ling Gao, Xiao Tian Li, Lei Geng

Skeleton-based temporal action segmentation aims to segment and classify human actions in untrimmed skeletal sequences. Existing methods struggle with distinguishing transition poses between adjacent frames and fail to adequately capture semantic dependencies between joints and actions. To address these challenges, we propose a large language model-based spatio-temporal semantic enhancement (LLM-STSE) method, a novel framework that combines adaptive spatio-temporal axial attention (ASTA-Attention) and dynamic semantic-guided multimodal action segmentation (DSG-MAS). ASTA-Attention models spatial and temporal dependencies using axial attention, whereas DSG-MAS dynamically generates semantic prompts based on joint motion and fuses them with skeleton features for more accurate segmentation. Experiments on MCFS and PKU-MMD datasets show that LLM-STSE achieves state-of-the-art performance, significantly improving action segmentation, especially in complex transitions, with substantial F1 score gains across multiple public datasets.

基于骨骼的时间动作分割旨在对未经修剪的骨骼序列中的人类动作进行分割和分类。现有的方法难以区分相邻帧之间的过渡姿势,并且无法充分捕获关节和动作之间的语义依赖关系。为了解决这些挑战,我们提出了一种基于大型语言模型的时空语义增强(LLM-STSE)方法,该方法结合了自适应时空轴向注意(sta - attention)和动态语义引导的多模态动作分割(DSG-MAS)。ASTA-Attention使用轴向注意建模空间和时间依赖关系,而DSG-MAS基于关节运动动态生成语义提示,并将其与骨架特征融合,以实现更准确的分割。在MCFS和PKU-MMD数据集上的实验表明,LLM-STSE达到了最先进的性能,显著改善了动作分割,特别是在复杂的转换中,在多个公共数据集上获得了可观的F1分数。
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引用次数: 0
Enhancing Interpretability of NesT Model Using NesT-Shapley and Feature-Weight-Augmentation Method 利用NesT- shapley和特征权重增强方法增强NesT模型的可解释性
IF 1.3 4区 计算机科学 Q4 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2025-09-06 DOI: 10.1049/cvi2.70039
Li Xu, Lei Li, Xiaohong Cong, Huijie Song

The transformer's capabilities in natural language processing and computer vision are impressive, but interpretability is crucial in specific domain applications. The NesT model, with its pyramidal structure, demonstrates high accuracy and faster training speeds. Unlike other models, a unique aspect of NesT is its avoidance of the [CLS] token, which presents challenges when applying interpretability methods that rely on the model's internal structure. Instead, NesT divides the image into 16 blocks and processes them using 16 independent vision transformers. We propose the NesT-Shapley method, which utilises this structure to combine the Shapley value method (a self-interpretable approach) with the independently operating vision transformers within NesT, significantly reducing computational complexity. On the other hand, we introduced the feature weight augmentation (FWA) method to address the challenges of weight adjustment in the final interpretability results produced by interpretability methods without [CLS] token, markedly enhancing the performance of interpretability methods and providing a better understanding of the information flow during the prediction process in the NesT model. We conducted perturbation experiments on the NesT model using the ImageNet and CIFAR-100 datasets and segmentation experiments on the ImageNet-Segmentation dataset, achieving impressive experimental results.

转换器在自然语言处理和计算机视觉方面的能力令人印象深刻,但是可解释性在特定领域应用程序中是至关重要的。NesT模型具有金字塔结构,具有较高的精度和更快的训练速度。与其他模型不同,NesT的独特之处在于它避免了[CLS]令牌,这在应用依赖于模型内部结构的可解释性方法时提出了挑战。相反,NesT将图像分成16个块,并使用16个独立的视觉转换器对它们进行处理。我们提出了NesT-Shapley方法,该方法利用这种结构将Shapley值方法(一种自解释方法)与NesT内独立运行的视觉变压器相结合,显著降低了计算复杂度。另一方面,我们引入了特征权值增强(FWA)方法,以解决无CLS标记的可解释性方法产生的最终可解释性结果中权值调整的挑战,显著提高了可解释性方法的性能,并更好地理解了NesT模型预测过程中的信息流。我们使用ImageNet和CIFAR-100数据集对NesT模型进行了扰动实验,并在ImageNet- segmentation数据集上进行了分割实验,取得了令人印象深刻的实验结果。
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引用次数: 0
Self-Prompting Segment Anything Model for Few-Shot Medical Image Segmentation 基于自提示分割模型的医学图像分割
IF 1.3 4区 计算机科学 Q4 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2025-08-23 DOI: 10.1049/cvi2.70040
Haifeng Zhao, Weichen Liu, Leilei Ma, Zaipeng Xie

Segmenting unlabelled medical images with a minimal amount of labelled data is a daunting task due to the complex feature landscapes and the prevalent noise and artefacts characteristic of medical imaging processes. The SAM has showcased the potential of large-scale image segmentation models for achieving zero-shot generalisation across previously unseen objects. However, directly applying SAM to medical image segmentation without incorporating prior knowledge of the target task can lead to unsatisfactory results. To address this, we enhance SAM by integrating prior knowledge of medical image segmentation tasks. This enables it to quickly adapt to few-shot medical image segmentation tasks while ensuring efficient parameter training. Our method employs an ensemble learning strategy to train a simple classifier, producing a coarse mask for each test image. Importantly, this coarse mask generates more accurate prompt points and boxes, thus improving SAM's capacity for prompt-driven segmentation. Furthermore, to refine SAM's ability to produce more precise masks, we introduce the Isolated Noise Removal (INR) module, which efficiently removes noise from the coarse masks. In addition, our novel Multi-point Automatic Prompt (MPAP) module is designed to independently generate multiple effective and evenly distributed point prompts based on these coarse masks. Additionally, we introduce an innovative knee joint dataset benchmark specifically for medical image segmentation, contributing further to the research field. Extensive evaluations on three benchmark datasets confirm the superior performance of our approach compared to existing methods, demonstrating its efficacy and significant progress in the domain of few-shot medical image segmentation.

由于医学成像过程中复杂的特征景观和普遍存在的噪声和伪影特征,用最少数量的标记数据分割未标记的医学图像是一项艰巨的任务。SAM展示了大规模图像分割模型的潜力,可以在以前看不见的物体上实现零射击泛化。然而,直接将SAM应用于医学图像分割,而不考虑目标任务的先验知识,可能会导致令人不满意的结果。为了解决这个问题,我们通过整合医学图像分割任务的先验知识来增强SAM。这使其能够快速适应少量医学图像分割任务,同时确保有效的参数训练。我们的方法采用集成学习策略来训练一个简单的分类器,为每个测试图像生成一个粗掩码。重要的是,这种粗掩码生成了更准确的提示点和提示框,从而提高了SAM的提示驱动分割能力。此外,为了改进SAM生成更精确掩模的能力,我们引入了隔离噪声去除(INR)模块,该模块可以有效地从粗掩模中去除噪声。此外,我们设计了新的多点自动提示(MPAP)模块,该模块基于这些粗掩模独立生成多个有效且均匀分布的点提示。此外,我们还引入了一个创新的膝关节数据集基准,专门用于医学图像分割,进一步促进了研究领域的发展。在三个基准数据集上的广泛评估证实了我们的方法与现有方法相比的优越性能,证明了它在少镜头医学图像分割领域的有效性和重大进展。
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引用次数: 0
Towards More Generalisable Compositional Feature Learning in Human-Object Interaction Detection 面向人-物交互检测中更通用的组合特征学习
IF 1.3 4区 计算机科学 Q4 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2025-08-11 DOI: 10.1049/cvi2.70037
Shuang Liang, Zikun Zhuang, Chi Xie, Shuwei Yan, Hongming Zhu

The long-tailed distribution of training samples is a fundamental challenge in human-object interaction (HOI) detection, leading to extremely imbalanced performance on non-rare and rare classes. Existing works adopt the idea of compositional learning, in which object and action features are learnt individually and re-composed into new samples of rare HOI classes. However, most of these methods are proposed on traditional CNN-based frameworks which are weak in capturing image-wide context. Moreover, the simple feature integration mechanisms fail to aggregate effective semantics in re-composed features. As a result, these methods achieve only limited improvements on knowledge generalisation. We propose a novel transformer-based compositional learning framework for HOI detection. Human-object pair features and interaction features containing rich global context are extracted, and comprehensively integrated via the cross-attention mechanism, generating re-composed features containing more generalisable semantics. To further improve re-composed features and promote knowledge generalisation, we leverage the vision-language model CLIP in a computation-efficient manner to improve re-composition sampling and guide the interaction feature learning. Experiments on two benchmark datasets prove the effectiveness of our method in improving performance on both rare and non-rare HOI classes.

训练样本的长尾分布是人-物交互(HOI)检测中的一个基本挑战,导致非稀有类和稀有类的性能极不平衡。现有的作品采用了组合学习的思想,其中对象和动作特征被单独学习,并重新组合成罕见的HOI类的新样本。然而,这些方法大多是在传统的基于cnn的框架上提出的,这些框架在捕获图像范围上下文方面很弱。此外,简单的特征集成机制无法在重组特征中聚合有效的语义。因此,这些方法在知识泛化方面的改进有限。我们提出了一种新的基于变压器的成分学习框架用于HOI检测。提取包含丰富全局上下文的人-物对特征和交互特征,并通过交叉注意机制进行综合集成,生成具有更泛化语义的重构特征。为了进一步改进重组特征,促进知识泛化,我们利用视觉语言模型CLIP以高效的计算方式改进重组采样并指导交互特征学习。在两个基准数据集上的实验证明了我们的方法在稀有和非稀有HOI类上提高性能的有效性。
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引用次数: 0
MVDT: Multiview Distillation Transformer for View-Invariant Sign Language Translation 面向视点不变手语翻译的多视点蒸馏转换器
IF 1.3 4区 计算机科学 Q4 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2025-07-31 DOI: 10.1049/cvi2.70038
Zhong Guan, Yongli Hu, Huajie Jiang, Yanfeng Sun, Baocai Yin

Sign language translation based on machine learning plays a crucial role in facilitating communication between deaf and hearing individuals. However, due to the complexity and variability of sign language, coupled with limited observation angles, single-view sign language translation models often underperform in real-world applications. Although some studies have attempted to improve translation efficiency by incorporating multiview data, challenges, such as feature alignment, fusion, and the high cost of capturing multiview data, remain significant barriers in many practical scenarios. To address these issues, we propose a multiview distillation transformer model (MVDT) for continuous sign language translation. The MVDT introduces a novel distillation mechanism, where a teacher model is designed to learn common features from multiview data, subsequently guiding a student model to extract view-invariant features using only single-view input. To evaluate the proposed method, we construct a multiview sign language dataset comprising five distinct views and conduct extensive experiments comparing the MVDT with state-of-the-art methods. Experimental results demonstrate that the proposed model exhibits superior view-invariant translation capabilities across different views.

基于机器学习的手语翻译在促进聋人和听力健全者之间的交流方面发挥着至关重要的作用。然而,由于手语的复杂性和可变性,加上观察角度有限,单视角手语翻译模型在实际应用中往往表现不佳。尽管一些研究试图通过合并多视图数据来提高翻译效率,但在许多实际场景中,特征对齐、融合和捕获多视图数据的高成本等挑战仍然是重大障碍。为了解决这些问题,我们提出了一个用于连续手语翻译的多视图蒸馏转换器模型(MVDT)。MVDT引入了一种新的蒸馏机制,其中教师模型被设计用于从多视图数据中学习共同特征,随后指导学生模型仅使用单视图输入提取视图不变特征。为了评估所提出的方法,我们构建了一个包含五个不同视图的多视图手语数据集,并进行了广泛的实验,将MVDT与最先进的方法进行了比较。实验结果表明,该模型在不同视图间具有较好的视图不变转换能力。
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引用次数: 0
Adaptive Multiscale Attention Feature Aggregation for Multi-Modal 3D Occluded Object Detection 多模态三维遮挡目标检测的自适应多尺度注意特征聚合
IF 1.3 4区 计算机科学 Q4 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2025-07-17 DOI: 10.1049/cvi2.70035
Yanfeng Han, Ming Yu, Jing Liu

Accurate perception and understanding of the three-dimensional environment is crucial for autonomous vehicles to navigate efficiently and make wise decisions. However, in complex real-world scenarios, the information obtained by a single-modal sensor is often incomplete, severely affecting the detection accuracy of occluded targets. To address this issue, this paper proposes a novel adaptive multi-scale attention aggregation strategy, efficiently fusing multi-scale feature representations of heterogeneous data to accurately capture the shape details and spatial relationships of targets in three-dimensional space. This strategy utilises learnable sparse keypoints to dynamically align heterogeneous features in a data-driven manner, adaptively modelling the cross-modal mapping relationships between keypoints and their corresponding multi-scale image features. Given the importance of accurately obtaining the three-dimensional shape information of targets for understanding the size and rotation pose of occluded targets, this paper adopts a shape prior knowledge-based constraint method and data augmentation strategy to guide the model to more accurately perceive the complete three-dimensional shape and rotation pose of occluded targets. Experimental results show that our proposed model achieves 2.15%, 3.24% and 2.75% improvement in 3DR40 mAP score under the easy, moderate and hard difficulty levels compared to MVXNet, significantly enhancing the detection accuracy and robustness of occluded targets in complex scenarios.

对三维环境的准确感知和理解对于自动驾驶汽车有效导航和做出明智决策至关重要。然而,在复杂的现实场景中,单模态传感器获取的信息往往是不完整的,严重影响了被遮挡目标的检测精度。针对这一问题,本文提出了一种新的自适应多尺度注意力聚合策略,有效融合异构数据的多尺度特征表示,在三维空间中准确捕获目标的形状细节和空间关系。该策略利用可学习的稀疏关键点以数据驱动的方式动态对齐异构特征,自适应建模关键点与其对应的多尺度图像特征之间的跨模态映射关系。鉴于准确获取目标的三维形状信息对于理解被遮挡目标的大小和旋转位姿的重要性,本文采用基于形状先验知识的约束方法和数据增强策略,指导模型更准确地感知被遮挡目标的完整三维形状和旋转位姿。实验结果表明,与MVXNet相比,该模型在简单、中等和困难难度下的3DR40 mAP评分分别提高了2.15%、3.24%和2.75%,显著提高了复杂场景下遮挡目标的检测精度和鲁棒性。
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