Many recent works on 3D object detection have focused on designing neural network architectures that can consume point cloud data. While these approaches demonstrate encouraging performance, they are typically based on a single modality and are unable to leverage information from other modalities, such as a camera. Although a few approaches fuse data from different modalities, these methods either use a complicated pipeline to process the modalities sequentially, or perform late-fusion and are unable to learn interaction between different modalities at early stages. In this work, we present PointFusion and VoxelFusion: two simple yet effective early-fusion approaches to combine the RGB and point cloud modalities, by leveraging the recently introduced VoxelNet architecture. Evaluation on the KITTI dataset demonstrates significant improvements in performance over approaches which only use point cloud data. Furthermore, the proposed method provides results competitive with the state-of-the-art multimodal algorithms, achieving top-2 ranking in five of the six bird's eye view and 3D detection categories on the KITTI benchmark, by using a simple single stage network.
Multimodal fusion by combining LiDAR and RGB data has been less explored as compared to single modality-based approaches. Recently, Chen al @cite_37 proposed a multi-view 3D object detection network (MV3D), which takes multimodal data as input and produces 3D bounding boxes by incorporating region-based feature fusion. Although this method demonstrated encouraging results by using multimodal data, it has the following disadvantages: (i) the method converts point clouds into BEV representation, which loses detailed 3D shape information, and (ii) the fusion is performed at a much later stage as compared to the proposed fusion techniques ( , after the 3D proposal generation stage), which limits the ability of the neural network to capture the interaction between the two modalities at earlier stages and hence, the integration is not necessarily seamless. Similar to @cite_37 , Ku al @cite_10 proposed multimodal fusion by incorporating region-based features. They achieved better performance than @cite_37 especially in the small object category by designing a more advanced RPN that employs high-resolution feature maps. This method also uses hand-crafted BEV representation and performs late fusion.
@cite_37 @cite_10
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This paper aims at high-accuracy 3D object detection in autonomous driving scenario. We propose Multi-View 3D networks (MV3D), a sensory-fusion framework that takes both LIDAR point cloud and RGB images as input and predicts oriented 3D bounding boxes. We encode the sparse 3D point cloud with a compact multi-view representation. The network is composed of two subnetworks: one for 3D object proposal generation and another for multi-view feature fusion. The proposal network generates 3D candidate boxes efficiently from the bird's eye view representation of 3D point cloud. We design a deep fusion scheme to combine region-wise features from multiple views and enable interactions between intermediate layers of different paths. Experiments on the challenging KITTI benchmark show that our approach outperforms the state-of-the-art by around 25 and 30 AP on the tasks of 3D localization and 3D detection. In addition, for 2D detection, our approach obtains 10.3 higher AP than the state-of-the-art on the hard data among the LIDAR-based methods. This paper aims at high-accuracy 3D object detection in autonomous driving scenario. We propose Multi-View 3D networks (MV3D), a sensory-fusion framework that takes both LIDAR point cloud and RGB images as input and predicts oriented 3D bounding boxes. We encode the sparse 3D point cloud with a compact multi-view representation. The network is composed of two subnetworks: one for 3D object proposal generation and another for multi-view feature fusion. The proposal network generates 3D candidate boxes efficiently from the birds eye view representation of 3D point cloud. We design a deep fusion scheme to combine region-wise features from multiple views and enable interactions between intermediate layers of different paths. Experiments on the challenging KITTI benchmark show that our approach outperforms the state-of-the-art by around 25 and 30 AP on the tasks of 3D localization and 3D detection. In addition, for 2D detection, our approach obtains 14.9 higher AP than the state-of-the-art on the hard data among the LIDAR-based methods. This paper presents a compact and accurate representation of 3D scenes that are observed by a LiDAR sensor and a monocular camera. The proposed method is based on the well-established Stixel model originally developed for stereo vision applications. We extend this Stixel concept to incorporate data from multiple sensor modalities. The resulting mid-level fusion scheme takes full advantage of the geometric accuracy of LiDAR measurements as well as the high resolution and semantic detail of RGB images. The obtained environment model provides a geometrically and semantically consistent representation of the 3D scene at a significantly reduced amount of data while minimizing information loss at the same time. Since the different sensor modalities are considered as input to a joint optimization problem, the solution is obtained with only minor computational overhead. We demonstrate the effectiveness of the proposed multimodal Stixel algorithm on a manually annotated ground truth dataset. Our results indicate that the proposed mid-level fusion of LiDAR and camera data improves both the geometric and semantic accuracy of the Stixel model significantly while reducing the computational overhead as well as the amount of generated data in comparison to using a single modality on its own. If fusion rules cannot adapt to the changes of environment and individual users, multimodal systems may perform worse than unimodal systems when one or more modalities encounter data degeneration. This paper develops a robust face and ear based multimodal biometric system using Sparse Representation (SR), which integrates the face and ear at feature level, and can effectively adjust the fusion rule based on reliability difference between the modalities. We first propose a novel index called Sparse Coding Error Ratio (SCER) to measure the reliability difference between face and ear query samples. Then, SCER is utilized to develop an adaptive feature weighting scheme for dynamically reducing the negative effect of the less reliable modality. In multimodal classification phase, SR-based classification techniques are employed, i.e., Sparse Representation based Classification (SRC) and Robust Sparse Coding (RSC). Finally, we derive a category of SR-based multimodal recognition methods, including Multimodal SRC with feature Weighting (MSRCW) and Multimodal RSC with feature Weighting (MRSCW). Experimental results demonstrate that: (a) MSRCW and MRSCW perform significantly better than the unimodal recognition using either face or ear alone, as well as the known multimodal methods; (b) The effectiveness of adaptive feature weighting is verified. MSRCW and MRSCW are very robust to the image degeneration occurring to one of the modalities. Even when face (ear) query sample suffers from 100 random pixel corruption, they can still get the performance close to the ear (face) unimodal recognition; (c) By integrating the advantages of adaptive feature weighting and sparsity-constrained regression, MRSCW seems excellent in tackling the face and ear based multimodal recognition problem.