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International Conference on Computer Vision and Image Processing

CVIP 2020: Computer Vision and Image Processing pp 201–213Cite as

Automatic On-Road Object Detection in LiDAR-Point Cloud Data Using Modified VoxelNet Architecture

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Part of the book series: Communications in Computer and Information Science ((CCIS,volume 1378))

Abstract

Automatic detection of objects play an important and key role in developing real time applications related to robotics and autonomous driving vehicles. The latest research trend in computer vision is to detect objects in the 3D point cloud data produced by LiDAR (Light Detection and Ranging) sensors mounted on the self driving cars. This research paper aims at proposing modifications to the existing VoxelNet architecture for object detection. The proposed models perform direct 3D convolution on the point cloud data. Firstly, the point cloud is encoded into a suitable format in the detection pipeline, and next, the feature maps are extracted from the encoded output of the encoder, and lastly, object detection is done using this learnt feature maps in the final stage. Experimental results on the benchmark KITTI dataset show that the proposed modifications outperform the existing VoxelNet based models and other fusion based methods in terms of accuracy as well as time.

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Author information

Authors and Affiliations

  1. Indian Institute of Information Technology, Allahabad, Prayagraj, 211015, India

    G. N. Nikhil, Md. Meraz & Mohd. Javed

Authors
  1. G. N. Nikhil
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  2. Md. Meraz
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  3. Mohd. Javed
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Corresponding author

Correspondence to G. N. Nikhil .

Editor information

Editors and Affiliations

  1. Indian Institute of Information Technology Allahabad, Prayagraj, India

    Satish Kumar Singh

  2. Indian Institute of Technology Roorkee, Roorkee, India

    Partha Roy

  3. Indian Institute of Technology Roorkee, Roorkee, India

    Balasubramanian Raman

  4. Indian Institute of Information Technology Allahabad, Prayagraj, India

    P. Nagabhushan

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Cite this paper

Nikhil, G.N., Meraz, M., Javed, M. (2021). Automatic On-Road Object Detection in LiDAR-Point Cloud Data Using Modified VoxelNet Architecture. In: Singh, S.K., Roy, P., Raman, B., Nagabhushan, P. (eds) Computer Vision and Image Processing. CVIP 2020. Communications in Computer and Information Science, vol 1378. Springer, Singapore. https://doi.org/10.1007/978-981-16-1103-2_18

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  • DOI: https://doi.org/10.1007/978-981-16-1103-2_18

  • Published:

  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-16-1102-5

  • Online ISBN: 978-981-16-1103-2

  • eBook Packages: Computer ScienceComputer Science (R0)

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