基于卷积神经网络的三维目标检测研究综述

doi:10.16451/j.cnki.issn1003-6059.202112004

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Abstract Three-dimensional(3D) object detection plays a critical role in the fields of autonomous driving and robotics, since deep learning methods can offer possible solutions for accurate object detection, especially convolutional neural networks. The research progresses of convolutional neural network-based 3D object detection are reviewed comprehensively. Firstly, the practical value, basic procedures and challenges of 3D object detection are summarized. Next, the preliminary knowledge of convolutional neural networks, typical 2D object detection network structures, some widely-used open source datasets and point cloud representations is introduced. Then, progresses on the application of convolutional neural networks in 3D object detection are presented, and the methods are sorted out and analyzed according to different data modalities and method commonalities. Finally, issues in the existing research of 3D object detection are discussed, and future research trends are prospected.

Key words： Convolutional Neural Network 3D Object Detection Point Cloud Multi-modal Fusion

Received: 06 May 2021

ZTFLH:

TP 18

Fund:National Key Research and Development Program of China(No.2020YFC2003900), National Natural Science Foundation of China(No.62076020), Fundamental Research Funds for the Central Universities(No.buctrc201933)

Corresponding Authors: WANG Kunfeng, Ph.D., professor. His research interests include computer vision, machine learning and intelligent unmanned systems.

About author:: WANG Yadong, Ph.D. candidate. His research interests include computer vision and deep learning.
TIAN Yonglin, Ph.D. candidate. His research interests include computer vision and intelligent transportation systems.
LI Guoqiang, master student. His research interests include computer vision and deep learning.
LI Dazi, Ph.D., professor. Her research interests include pattern recognition and reinforcement learning.

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Cite this article:

WANG Yadong,TIAN Yonglin,LI Guoqiang等. 3D Object Detection Based on Convolutional Neural Networks: A Survey[J]. , 2021, 34(12): 1103-1119.

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http://manu46.magtech.com.cn/Jweb_prai/EN/10.16451/j.cnki.issn1003-6059.202112004 OR http://manu46.magtech.com.cn/Jweb_prai/EN/Y2021/V34/I12/1103

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